diff --git a/conf/HB/hb_conf_speedy_opticflow.xml b/conf/HB/hb_conf_speedy_opticflow.xml deleted file mode 100644 index 030ac1611b..0000000000 --- a/conf/HB/hb_conf_speedy_opticflow.xml +++ /dev/null @@ -1,13 +0,0 @@ - - - diff --git a/conf/HB/hb_control_panel_speedy_opticflow.xml b/conf/HB/hb_control_panel_speedy_opticflow.xml deleted file mode 100644 index c3150d8b66..0000000000 --- a/conf/HB/hb_control_panel_speedy_opticflow.xml +++ /dev/null @@ -1,248 +0,0 @@ - - - - -
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- -
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - diff --git a/conf/airframes/CDW/cdw_classix.xml b/conf/airframes/CDW/cdw_classix.xml index a3fb9fd86a..e107c0fdad 100644 --- a/conf/airframes/CDW/cdw_classix.xml +++ b/conf/airframes/CDW/cdw_classix.xml @@ -216,9 +216,9 @@ - - - + + + diff --git a/conf/airframes/CDW/cdw_twoseastwenty.xml b/conf/airframes/CDW/cdw_twoseastwenty.xml index e6bc58c9d3..333d4e24f1 100644 --- a/conf/airframes/CDW/cdw_twoseastwenty.xml +++ b/conf/airframes/CDW/cdw_twoseastwenty.xml @@ -36,10 +36,10 @@ - - - - + + + + @@ -70,10 +70,10 @@ - - - - + + + + diff --git a/conf/airframes/CDW/cdw_yapa_xsens.xml b/conf/airframes/CDW/cdw_yapa_xsens.xml index e34c994ff9..9253102bb7 100644 --- a/conf/airframes/CDW/cdw_yapa_xsens.xml +++ b/conf/airframes/CDW/cdw_yapa_xsens.xml @@ -25,10 +25,10 @@ - - - - + + + + diff --git a/conf/airframes/FLIXR/flixr_lisa_mx.xml b/conf/airframes/FLIXR/flixr_lisa_mx.xml index 8b43115b0f..7f838f559e 100644 --- a/conf/airframes/FLIXR/flixr_lisa_mx.xml +++ b/conf/airframes/FLIXR/flixr_lisa_mx.xml @@ -96,6 +96,7 @@ + diff --git a/conf/airframes/HB/hb_ardrone2_opticflowtest.xml b/conf/airframes/HB/hb_ardrone2_opticflowtest.xml deleted file mode 100644 index 9cc875028c..0000000000 --- a/conf/airframes/HB/hb_ardrone2_opticflowtest.xml +++ /dev/null @@ -1,218 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - - -
- - - - - - - - - -
- - - - - - - - - - - - - - - - - - - - - -
- - - -
- - - - - -
- -
- - - - -
- -
- - - - - - - - - - - - - - - - -
- -
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- -
- - - - - -
- -
- - - - - - - -
- -
- - - -
- -
- - - - -
- -
- - - - - -
- diff --git a/conf/airframes/TUDELFT/tudelft_heli450.xml b/conf/airframes/TUDELFT/tudelft_heli450.xml index ecd2f554d6..b9ef473ed0 100644 --- a/conf/airframes/TUDELFT/tudelft_heli450.xml +++ b/conf/airframes/TUDELFT/tudelft_heli450.xml @@ -37,10 +37,10 @@ - - - - + + + + @@ -61,7 +61,7 @@
- + @@ -71,9 +71,9 @@ - - - + + + diff --git a/conf/airframes/examples/microjet.xml b/conf/airframes/examples/microjet.xml index c26ab5689c..314594c7d6 100644 --- a/conf/airframes/examples/microjet.xml +++ b/conf/airframes/examples/microjet.xml @@ -180,7 +180,7 @@ - + diff --git a/conf/airframes/examples/microjet_imu_xsens.xml b/conf/airframes/examples/microjet_imu_xsens.xml index 1ab3a1316b..92d91d3b86 100644 --- a/conf/airframes/examples/microjet_imu_xsens.xml +++ b/conf/airframes/examples/microjet_imu_xsens.xml @@ -21,10 +21,10 @@ - - - - + + + + diff --git a/conf/airframes/examples/microjet_lisa_m_xsens.xml b/conf/airframes/examples/microjet_lisa_m_xsens.xml index ee9ddd2269..7278c17917 100644 --- a/conf/airframes/examples/microjet_lisa_m_xsens.xml +++ b/conf/airframes/examples/microjet_lisa_m_xsens.xml @@ -21,10 +21,10 @@ - - - - + + + + diff --git a/conf/firmwares/subsystems/fixedwing/gps_ublox_utm.makefile b/conf/firmwares/subsystems/fixedwing/gps_ublox_utm.makefile index c7fd2abd9e..9942dfdb66 100644 --- a/conf/firmwares/subsystems/fixedwing/gps_ublox_utm.makefile +++ b/conf/firmwares/subsystems/fixedwing/gps_ublox_utm.makefile @@ -1,3 +1 @@ -include $(CFG_SHARED)/gps_ublox.makefile - -$(info Please replace with ) +$(error Please replace with ) diff --git a/conf/firmwares/subsystems/fixedwing/imu_xsens.makefile b/conf/firmwares/subsystems/fixedwing/imu_xsens.makefile index b18ab3bd5f..67d4ac948e 100644 --- a/conf/firmwares/subsystems/fixedwing/imu_xsens.makefile +++ b/conf/firmwares/subsystems/fixedwing/imu_xsens.makefile @@ -1,68 +1 @@ -# Hey Emacs, this is a -*- makefile -*- - -# XSens Mti just providing IMU measurements - -# -# -# -# -# -#
-# -# -# -# -# -# -# -# -# -# -# -# -# -# -# -# -# -# -# -# -# -# -# -# -# -# -# -# -# -# -# -# -# -# -# -# -# -# -# -#
- - -######################################### -## IMU - -ap.CFLAGS += -DUSE_IMU -ap.CFLAGS += -DIMU_TYPE_H=\"modules/ins/ins_xsens.h\" -ap.srcs += $(SRC_MODULES)/ins/ins_xsens.c -ap.srcs += $(SRC_SUBSYSTEMS)/imu.c - -ifndef XSENS_UART_BAUD - XSENS_UART_BAUD = B115200 -endif - -ap.CFLAGS += -DUSE_UART$(XSENS_UART_NR) -ap.CFLAGS += -DINS_LINK=uart$(XSENS_UART_NR) -ap.CFLAGS += -DUART$(XSENS_UART_NR)_BAUD=$(XSENS_UART_BAUD) -ap.CFLAGS += -DXSENS_OUTPUT_MODE=0x1836 +$(error Error: The imu xsens subsystem has been converted to a module, replace by ) diff --git a/conf/firmwares/subsystems/fixedwing/ins_xsens.makefile b/conf/firmwares/subsystems/fixedwing/ins_xsens.makefile index c243ad9f96..038ff5b548 100644 --- a/conf/firmwares/subsystems/fixedwing/ins_xsens.makefile +++ b/conf/firmwares/subsystems/fixedwing/ins_xsens.makefile @@ -1,70 +1 @@ -# Hey Emacs, this is a -*- makefile -*- - -# XSens Mti-G - -# -# -# -# - - - -######################################### -## ATTITUDE - -ap.CFLAGS += -DUSE_INS_MODULE - -# AHRS Results -ap.CFLAGS += -DINS_TYPE_H=\"modules/ins/ins_xsens.h\" - -ifndef XSENS_UART_BAUD - XSENS_UART_BAUD = B115200 -endif - -#B230400 -#B115200 - -ap.CFLAGS += -DUSE_UART$(XSENS_UART_NR) -ap.CFLAGS += -DINS_LINK=uart$(XSENS_UART_NR) -ap.CFLAGS += -DUART$(XSENS_UART_NR)_BAUD=$(XSENS_UART_BAUD) -ap.CFLAGS += -DXSENS_OUTPUT_MODE=0x1836 -ap.srcs += $(SRC_SUBSYSTEMS)/ins.c -ap.srcs += $(SRC_MODULES)/ins/ins_xsens.c -ap.CFLAGS += -DAHRS_TRIGGERED_ATTITUDE_LOOP - - - -######################################### -## GPS - -ap.CFLAGS += -DUSE_GPS_XSENS -ap.CFLAGS += -DUSE_GPS_XSENS_RAW_DATA -ap.CFLAGS += -DGPS_NB_CHANNELS=16 -ap.CFLAGS += -DUSE_GPS -ap.CFLAGS += -DGPS_TYPE_H=\"modules/ins/ins_xsens.h\" -ap.srcs += $(SRC_SUBSYSTEMS)/gps.c - - -######################################### -## Simulator -SIM_TARGETS = sim nps - -ifneq (,$(findstring $(TARGET),$(SIM_TARGETS))) - -$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\" -$(TARGET).CFLAGS += -DUSE_AHRS - -$(TARGET).srcs += $(SRC_SUBSYSTEMS)/ahrs.c -$(TARGET).srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c - -$(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins.c -$(TARGET).CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_gps_passthrough_utm.h\" -$(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/ins_gps_passthrough_utm.c - -$(TARGET).CFLAGS += -DUSE_GPS -$(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\" -$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c -$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c - -endif - +$(error Error: The ins xsens subsystem has been converted to a module, replace by ) diff --git a/conf/firmwares/subsystems/shared/ins_xsens700.makefile b/conf/firmwares/subsystems/shared/ins_xsens700.makefile index 58be4d9d3f..bf4eb71b37 100644 --- a/conf/firmwares/subsystems/shared/ins_xsens700.makefile +++ b/conf/firmwares/subsystems/shared/ins_xsens700.makefile @@ -1,64 +1 @@ -# Hey Emacs, this is a -*- makefile -*- - -# XSens Mti-G - -# -# -# -# - - -######################################### -## ATTITUDE - -ap.CFLAGS += -DUSE_INS_MODULE - -# AHRS Results -ap.CFLAGS += -DINS_TYPE_H=\"modules/ins/ins_xsens.h\" - -ifndef XSENS_UART_BAUD - XSENS_UART_BAUD = B115200 -endif - -ap.CFLAGS += -DUSE_UART$(XSENS_UART_NR) -ap.CFLAGS += -DINS_LINK=uart$(XSENS_UART_NR) -ap.CFLAGS += -DUART$(XSENS_UART_NR)_BAUD=$(XSENS_UART_BAUD) -ap.CFLAGS += -DXSENS_OUTPUT_MODE=0x1836 -ap.srcs += $(SRC_SUBSYSTEMS)/ins.c -ap.srcs += $(SRC_MODULES)/ins/ins_xsens700.c -ap.CFLAGS += -DAHRS_TRIGGERED_ATTITUDE_LOOP - - -######################################### -## GPS - -ap.CFLAGS += -DUSE_GPS_XSENS -ap.CFLAGS += -DGPS_NB_CHANNELS=50 -ap.CFLAGS += -DUSE_GPS -ap.CFLAGS += -DGPS_TYPE_H=\"modules/ins/ins_xsens.h\" -ap.srcs += $(SRC_SUBSYSTEMS)/gps.c - - -######################################### -## Simulator -SIM_TARGETS = sim nps - -ifneq (,$(findstring $(TARGET),$(SIM_TARGETS))) - -$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\" -$(TARGET).CFLAGS += -DUSE_AHRS - -$(TARGET).srcs += $(SRC_SUBSYSTEMS)/ahrs.c -$(TARGET).srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c - -$(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins.c -$(TARGET).CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_gps_passthrough_utm.h\" -$(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/ins_gps_passthrough_utm.c - -$(TARGET).CFLAGS += -DUSE_GPS -$(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\" -$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c -$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c - -endif - +$(error Error: The ins xsens700 subsystem has been converted to a module, replace by ) diff --git a/conf/flight_plans/HB/hb_cyberzoo.xml b/conf/flight_plans/HB/hb_cyberzoo.xml deleted file mode 100644 index 9490062a65..0000000000 --- a/conf/flight_plans/HB/hb_cyberzoo.xml +++ /dev/null @@ -1,123 +0,0 @@ - - - -
-#include "autopilot.h" -#include "subsystems/ahrs.h" -#include "subsystems/electrical.h" -#include "subsystems/datalink/datalink.h" -
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/conf/flight_plans/rotorcraft_basic.xml b/conf/flight_plans/rotorcraft_basic.xml index 6adc56ef56..34c4cd72e5 100644 --- a/conf/flight_plans/rotorcraft_basic.xml +++ b/conf/flight_plans/rotorcraft_basic.xml @@ -61,6 +61,9 @@ + + + diff --git a/conf/flight_plans/rotorcraft_optitrack.xml b/conf/flight_plans/rotorcraft_optitrack.xml index 6e22f60c05..1d3261047d 100644 --- a/conf/flight_plans/rotorcraft_optitrack.xml +++ b/conf/flight_plans/rotorcraft_optitrack.xml @@ -74,6 +74,9 @@ + + + diff --git a/conf/modules/gps_i2c.xml b/conf/modules/gps_i2c.xml deleted file mode 100644 index 5db107fc91..0000000000 --- a/conf/modules/gps_i2c.xml +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - U-blox GPS (I2C) - (apparently currently broken) - - -
- -
- - - - - - - - - diff --git a/conf/modules/gps_ubx_i2c.xml b/conf/modules/gps_ubx_i2c.xml new file mode 100644 index 0000000000..ab1e733f3c --- /dev/null +++ b/conf/modules/gps_ubx_i2c.xml @@ -0,0 +1,30 @@ + + + + + + U-blox GPS (I2C) + + + + + gps_ublox + +
+ +
+ + + + + + + + + + + + + + + diff --git a/conf/modules/imu_xsens.xml b/conf/modules/imu_xsens.xml new file mode 100644 index 0000000000..8e464f0d13 --- /dev/null +++ b/conf/modules/imu_xsens.xml @@ -0,0 +1,49 @@ + + + + + + XSens IMU + + + + +
+ +
+ + + + + + + + + + + + + + + ap.CFLAGS += -DIMU_TYPE_H=\"modules/ins/imu_xsens.h\" + + + + + + + + + sim.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\" + + + + + + + + nps.CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_nps.h\" + + + + diff --git a/conf/modules/ins_xsens.xml b/conf/modules/ins_xsens.xml index 6ec0d450ef..4c93bdcfa8 100644 --- a/conf/modules/ins_xsens.xml +++ b/conf/modules/ins_xsens.xml @@ -1,16 +1,77 @@ - + - XSens + + XSens Mti-G INS + + +
- +
- - - + + + + + + + + + + + + + + + + + + + + + + + ap.CFLAGS += -DGPS_TYPE_H=\"modules/ins/ins_xsens.h\" + + + + + + + + + + + + + + + + sim.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\" + sim.CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_gps_passthrough_utm.h\" + sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\" + + + + + + + + + + + + + + + + + nps.CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_gps_passthrough_utm.h\" + nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\" + diff --git a/conf/modules/ins_xsens700.xml b/conf/modules/ins_xsens700.xml new file mode 100644 index 0000000000..4247003015 --- /dev/null +++ b/conf/modules/ins_xsens700.xml @@ -0,0 +1,76 @@ + + + + + + XSens Mti-G 700 INS + + + + +
+ +
+ + + + + + + + + + + + + + + + + + + + + + + ap.CFLAGS += -DGPS_TYPE_H=\"modules/ins/ins_xsens700.h\" + + + + + + + + + + + + + + + + sim.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\" + sim.CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_gps_passthrough_utm.h\" + sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\" + + + + + + + + + + + + + + + + + nps.CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_gps_passthrough_utm.h\" + nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\" + + + + diff --git a/conf/modules/ins_xsens_MTiG_Uart0.xml b/conf/modules/ins_xsens_MTiG_Uart0.xml deleted file mode 100644 index 0438e3776a..0000000000 --- a/conf/modules/ins_xsens_MTiG_Uart0.xml +++ /dev/null @@ -1,26 +0,0 @@ - - - - - XSens MTiG - - - -
- -
- - - - - - - - - - - - - - - diff --git a/conf/modules/ins_xsens_MTi_Uart0.xml b/conf/modules/ins_xsens_MTi_Uart0.xml deleted file mode 100644 index 8bcb60694c..0000000000 --- a/conf/modules/ins_xsens_MTi_Uart0.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - - - XSens MTi - - -
- -
- - - - - - - - - - - - - - diff --git a/conf/modules/usb_serial_stm32_example1.xml b/conf/modules/usb_serial_stm32_example1.xml index 463e29677b..2c7dd7fe8f 100644 --- a/conf/modules/usb_serial_stm32_example1.xml +++ b/conf/modules/usb_serial_stm32_example1.xml @@ -17,10 +17,8 @@ - - - ap.srcs += $(SRC_ARCH)/usb_ser_hw.c - + + diff --git a/conf/modules/usb_serial_stm32_example2.xml b/conf/modules/usb_serial_stm32_example2.xml index c92642f4e9..df0a3b4276 100644 --- a/conf/modules/usb_serial_stm32_example2.xml +++ b/conf/modules/usb_serial_stm32_example2.xml @@ -1,17 +1,17 @@ - + - + - - STM32 USB-serial example. - Example of USB-serial module on STM32 architecture, using libopencm3 library. - This example tests the capability of USB-serial port by sending a lots of data. - To be used with Lisa M/MX 2.1 - + + STM32 USB-serial example. + Example of USB-serial module on STM32 architecture, using libopencm3 library. + This example tests the capability of USB-serial port by sending a lots of data. + To be used with Lisa M/MX 2.1 +
- +
@@ -20,11 +20,9 @@ - - - ap.srcs += $(SRC_ARCH)/usb_ser_hw.c - - - + + + + - + diff --git a/sw/airborne/arch/linux/mcu_periph/i2c_arch.c b/sw/airborne/arch/linux/mcu_periph/i2c_arch.c index 46617bb147..4fcf70e470 100644 --- a/sw/airborne/arch/linux/mcu_periph/i2c_arch.c +++ b/sw/airborne/arch/linux/mcu_periph/i2c_arch.c @@ -42,14 +42,14 @@ void i2c_setbitrate(struct i2c_periph *p __attribute__((unused)), int bitrate _ { } -bool_t i2c_idle(struct i2c_periph *p __attribute__((unused))) +bool i2c_idle(struct i2c_periph *p __attribute__((unused))) { - return TRUE; + return true; } #pragma GCC diagnostic push #pragma GCC diagnostic ignored "-Wcast-qual" -bool_t i2c_submit(struct i2c_periph *p, struct i2c_transaction *t) +bool i2c_submit(struct i2c_periph *p, struct i2c_transaction *t) { int file = (int)p->reg_addr; @@ -68,7 +68,7 @@ bool_t i2c_submit(struct i2c_periph *p, struct i2c_transaction *t) /* if write failed, increment error counter queue_full_cnt */ p->errors->queue_full_cnt++; t->status = I2CTransFailed; - return TRUE; + return true; } break; // Just reading @@ -79,7 +79,7 @@ bool_t i2c_submit(struct i2c_periph *p, struct i2c_transaction *t) /* if read failed, increment error counter ack_fail_cnt */ p->errors->ack_fail_cnt++; t->status = I2CTransFailed; - return TRUE; + return true; } break; // First Transmit and then read with repeated start @@ -96,7 +96,7 @@ bool_t i2c_submit(struct i2c_periph *p, struct i2c_transaction *t) /* if write/read failed, increment error counter miss_start_stop_cnt */ p->errors->miss_start_stop_cnt++; t->status = I2CTransFailed; - return TRUE; + return true; } break; default: @@ -105,7 +105,7 @@ bool_t i2c_submit(struct i2c_periph *p, struct i2c_transaction *t) // Successfull transfer t->status = I2CTransSuccess; - return TRUE; + return true; } #pragma GCC diagnostic pop diff --git a/sw/airborne/arch/linux/mcu_periph/spi_arch.c b/sw/airborne/arch/linux/mcu_periph/spi_arch.c index 1fe3dd0927..a835b95bc1 100644 --- a/sw/airborne/arch/linux/mcu_periph/spi_arch.c +++ b/sw/airborne/arch/linux/mcu_periph/spi_arch.c @@ -45,7 +45,7 @@ void spi_init_slaves(void) #pragma GCC diagnostic push #pragma GCC diagnostic ignored "-Wcast-qual" -bool_t spi_submit(struct spi_periph *p, struct spi_transaction *t) +bool spi_submit(struct spi_periph *p, struct spi_transaction *t) { int fd = (int)p->reg_addr; @@ -89,7 +89,7 @@ bool_t spi_submit(struct spi_periph *p, struct spi_transaction *t) if (ioctl(fd, SPI_IOC_MESSAGE(1), &xfer) < 0) { t->status = SPITransFailed; - return FALSE; + return false; } /* copy recieved data if we had to use an extra rx_buffer */ @@ -98,20 +98,20 @@ bool_t spi_submit(struct spi_periph *p, struct spi_transaction *t) } t->status = SPITransSuccess; - return TRUE; + return true; } #pragma GCC diagnostic pop -bool_t spi_lock(struct spi_periph *p, uint8_t slave) +bool spi_lock(struct spi_periph *p, uint8_t slave) { // not implemented - return FALSE; + return false; } -bool_t spi_resume(struct spi_periph *p, uint8_t slave) +bool spi_resume(struct spi_periph *p, uint8_t slave) { // not implemented - return FALSE; + return false; } diff --git a/sw/airborne/arch/linux/mcu_periph/sys_time_arch.c b/sw/airborne/arch/linux/mcu_periph/sys_time_arch.c index 723a5ed55d..1c32e6ae1b 100644 --- a/sw/airborne/arch/linux/mcu_periph/sys_time_arch.c +++ b/sw/airborne/arch/linux/mcu_periph/sys_time_arch.c @@ -136,7 +136,7 @@ static void sys_tick_handler(void) if (sys_time.timer[i].in_use && sys_time.nb_tick >= sys_time.timer[i].end_time) { sys_time.timer[i].end_time += sys_time.timer[i].duration; - sys_time.timer[i].elapsed = TRUE; + sys_time.timer[i].elapsed = true; /* call registered callbacks, WARNING: they will be executed in the sys_time thread! */ if (sys_time.timer[i].cb) { sys_time.timer[i].cb(i); diff --git a/sw/airborne/arch/linux/mcu_periph/udp_arch.c b/sw/airborne/arch/linux/mcu_periph/udp_arch.c index 4308a0e493..d020bcbc3f 100644 --- a/sw/airborne/arch/linux/mcu_periph/udp_arch.c +++ b/sw/airborne/arch/linux/mcu_periph/udp_arch.c @@ -66,7 +66,7 @@ void udp_arch_init(void) * Initialize the UDP peripheral. * Allocate UdpSocket struct and create and bind the UDP socket. */ -void udp_arch_periph_init(struct udp_periph *p, char *host, int port_out, int port_in, bool_t broadcast) +void udp_arch_periph_init(struct udp_periph *p, char *host, int port_out, int port_in, bool broadcast) { struct UdpSocket *sock = malloc(sizeof(struct UdpSocket)); udp_socket_create(sock, host, port_out, port_in, broadcast); diff --git a/sw/airborne/arch/linux/udp_socket.c b/sw/airborne/arch/linux/udp_socket.c index 93b7b8c76b..ae61cdd3c0 100644 --- a/sw/airborne/arch/linux/udp_socket.c +++ b/sw/airborne/arch/linux/udp_socket.c @@ -46,7 +46,7 @@ * @param[in] broadcast if TRUE enable broadcasting * @return -1 on error, otherwise 0 */ -int udp_socket_create(struct UdpSocket *sock, char *host, int port_out, int port_in, bool_t broadcast) +int udp_socket_create(struct UdpSocket *sock, char *host, int port_out, int port_in, bool broadcast) { if (sock == NULL) { return -1; diff --git a/sw/airborne/arch/linux/udp_socket.h b/sw/airborne/arch/linux/udp_socket.h index 89bdbe62c9..2f26886985 100644 --- a/sw/airborne/arch/linux/udp_socket.h +++ b/sw/airborne/arch/linux/udp_socket.h @@ -46,7 +46,7 @@ struct UdpSocket { * @param[in] broadcast if TRUE enable broadcasting * @return -1 on error, otherwise 0 */ -extern int udp_socket_create(struct UdpSocket *sock, char *host, int port_out, int port_in, bool_t broadcast); +extern int udp_socket_create(struct UdpSocket *sock, char *host, int port_out, int port_in, bool broadcast); /** * Send a packet from buffer, blocking. diff --git a/sw/airborne/arch/lpc21/ADS8344.c b/sw/airborne/arch/lpc21/ADS8344.c index 685094a546..0953c73e3f 100644 --- a/sw/airborne/arch/lpc21/ADS8344.c +++ b/sw/airborne/arch/lpc21/ADS8344.c @@ -35,7 +35,7 @@ #define ADS8344Select() SetBit(ADS8344_SS_IOCLR,ADS8344_SS_PIN) #define ADS8344Unselect() SetBit(ADS8344_SS_IOSET,ADS8344_SS_PIN) -bool_t ADS8344_available; +bool ADS8344_available; uint16_t ADS8344_values[NB_CHANNELS]; #define POWER_MODE (1 << 1 | 1) @@ -88,7 +88,7 @@ static uint8_t channel; void ADS8344_init(void) { channel = 0; - ADS8344_available = FALSE; + ADS8344_available = false; /* setup pins for SSP (SCK, MISO, MOSI) */ PINSEL1 |= 2 << 2 | 2 << 4 | 2 << 6; @@ -146,7 +146,7 @@ void SPI1_ISR(void) channel++; if (channel > 7) { channel = 0; - ADS8344_available = TRUE; + ADS8344_available = true; } send_request(); SpiClearRti(); diff --git a/sw/airborne/arch/lpc21/ADS8344.h b/sw/airborne/arch/lpc21/ADS8344.h index 186b00802c..8e7131787f 100644 --- a/sw/airborne/arch/lpc21/ADS8344.h +++ b/sw/airborne/arch/lpc21/ADS8344.h @@ -28,7 +28,7 @@ #define NB_CHANNELS 8 extern uint16_t ADS8344_values[NB_CHANNELS]; -extern bool_t ADS8344_available; +extern bool ADS8344_available; void ADS8344_init(void); void ADS8344_start(void); diff --git a/sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c b/sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c index 9940fc6e62..5e7d024814 100644 --- a/sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c +++ b/sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c @@ -85,7 +85,7 @@ __attribute__((always_inline)) static inline void I2cSendByte(void *reg, uint8_t ((i2cRegs_t *)reg)->dat = b; } -__attribute__((always_inline)) static inline void I2cReceive(void *reg, bool_t ack) +__attribute__((always_inline)) static inline void I2cReceive(void *reg, bool ack) { if (ack) { ((i2cRegs_t *)reg)->conset = _BV(AA); } else { ((i2cRegs_t *)reg)->conclr = _BV(AAC); } @@ -341,12 +341,12 @@ void i2c1_hw_init(void) #endif /* USE_I2C1 */ -bool_t i2c_idle(struct i2c_periph *p) +bool i2c_idle(struct i2c_periph *p) { return p->status == I2CIdle; } -bool_t i2c_submit(struct i2c_periph *p, struct i2c_transaction *t) +bool i2c_submit(struct i2c_periph *p, struct i2c_transaction *t) { uint8_t idx; @@ -356,7 +356,7 @@ bool_t i2c_submit(struct i2c_periph *p, struct i2c_transaction *t) /* queue full */ p->errors->queue_full_cnt++; t->status = I2CTransFailed; - return FALSE; + return false; } t->status = I2CTransPending; @@ -378,7 +378,7 @@ bool_t i2c_submit(struct i2c_periph *p, struct i2c_transaction *t) //VICIntEnable = VIC_BIT(*vic); enableIRQ(); - return TRUE; + return true; } void i2c_event(void) { } diff --git a/sw/airborne/arch/lpc21/mcu_periph/pwm_input_arch.c b/sw/airborne/arch/lpc21/mcu_periph/pwm_input_arch.c index b2ebd688f9..6939a99131 100644 --- a/sw/airborne/arch/lpc21/mcu_periph/pwm_input_arch.c +++ b/sw/airborne/arch/lpc21/mcu_periph/pwm_input_arch.c @@ -89,10 +89,10 @@ void pwm_input_isr1(void) T0CCR &= ~TCCR_CR3_F; #if USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_HIGH pwm_input_duty_tics[0] = t_fall - t_rise; - pwm_input_duty_valid[0] = TRUE; + pwm_input_duty_valid[0] = true; #elif USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_LOW pwm_input_period_tics[0] = t_fall - t_oldfall; - pwm_input_period_valid[0] = TRUE; + pwm_input_period_valid[0] = true; t_oldfall = t_fall; #endif //ACTIVE_HIGH } else if (T0CCR & TCCR_CR3_R) { @@ -101,10 +101,10 @@ void pwm_input_isr1(void) T0CCR &= ~TCCR_CR3_R; #if USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_LOW pwm_input_duty_tics[0] = t_rise - t_fall; - pwm_input_duty_valid[0] = TRUE; + pwm_input_duty_valid[0] = true; #elif USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_HIGH pwm_input_period_tics[0] = t_rise - t_oldrise; - pwm_input_period_valid[0] = TRUE; + pwm_input_period_valid[0] = true; t_oldrise = t_rise; #endif //ACTIVE_LOW } @@ -128,10 +128,10 @@ void pwm_input_isr2(void) T0CCR &= ~TCCR_CR0_F; #if USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_HIGH pwm_input_duty_tics[1] = t_fall - t_rise; - pwm_input_duty_valid[1] = TRUE; + pwm_input_duty_valid[1] = true; #elif USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_LOW pwm_input_period_tics[1] = t_fall - t_oldfall; - pwm_input_period_valid[1] = TRUE; + pwm_input_period_valid[1] = true; t_oldfall = t_fall; #endif //ACTIVE_HIGH } else if (T0CCR & TCCR_CR0_R) { @@ -140,10 +140,10 @@ void pwm_input_isr2(void) T0CCR &= ~TCCR_CR0_R; #if USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_LOW pwm_input_duty_tics[1] = t_rise - t_fall; - pwm_input_duty_valid[1] = TRUE; + pwm_input_duty_valid[1] = true; #elif USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_HIGH pwm_input_period_tics[1] = t_rise - t_oldrise; - pwm_input_period_valid[1] = TRUE; + pwm_input_period_valid[1] = true; t_oldrise = t_rise; #endif //ACTIVE_LOW } diff --git a/sw/airborne/arch/lpc21/mcu_periph/spi_arch.c b/sw/airborne/arch/lpc21/mcu_periph/spi_arch.c index 548e588a9a..ad76c5433d 100644 --- a/sw/airborne/arch/lpc21/mcu_periph/spi_arch.c +++ b/sw/airborne/arch/lpc21/mcu_periph/spi_arch.c @@ -490,7 +490,7 @@ void spi1_arch_init(void) #endif -bool_t spi_submit(struct spi_periph *p, struct spi_transaction *t) +bool spi_submit(struct spi_periph *p, struct spi_transaction *t) { //unsigned cpsr; @@ -499,7 +499,7 @@ bool_t spi_submit(struct spi_periph *p, struct spi_transaction *t) if (idx >= SPI_TRANSACTION_QUEUE_LEN) { idx = 0; } if (idx == p->trans_extract_idx) { t->status = SPITransFailed; - return FALSE; /* queue full */ + return false; /* queue full */ } t->status = SPITransPending; @@ -521,7 +521,7 @@ bool_t spi_submit(struct spi_periph *p, struct spi_transaction *t) //VICIntEnable = VIC_BIT(*vic); //restoreIRQ(cpsr); // restore global interrupts enableIRQ(); - return TRUE; + return true; } @@ -560,20 +560,20 @@ void spi_slave_unselect(uint8_t slave) SpiSlaveUnselect(slave); } -bool_t spi_lock(struct spi_periph *p, uint8_t slave) +bool spi_lock(struct spi_periph *p, uint8_t slave) { uint8_t *vic = (uint8_t *)(p->init_struct); VICIntEnClear = VIC_BIT(*vic); if (slave < 254 && p->suspend == 0) { p->suspend = slave + 1; // 0 is reserved for unlock state VICIntEnable = VIC_BIT(*vic); - return TRUE; + return true; } VICIntEnable = VIC_BIT(*vic); - return FALSE; + return false; } -bool_t spi_resume(struct spi_periph *p, uint8_t slave) +bool spi_resume(struct spi_periph *p, uint8_t slave) { uint8_t *vic = (uint8_t *)(p->init_struct); VICIntEnClear = VIC_BIT(*vic); @@ -584,10 +584,10 @@ bool_t spi_resume(struct spi_periph *p, uint8_t slave) SpiStart(p, p->trans[p->trans_extract_idx]); } VICIntEnable = VIC_BIT(*vic); - return TRUE; + return true; } VICIntEnable = VIC_BIT(*vic); - return FALSE; + return false; } #endif /* SPI_MASTER */ @@ -676,12 +676,12 @@ void spi1_slave_arch_init(void) #endif /** Register one (and only one) transaction to use spi as slave */ -bool_t spi_slave_register(struct spi_periph *p, struct spi_transaction *t) +bool spi_slave_register(struct spi_periph *p, struct spi_transaction *t) { if (p->trans_insert_idx >= 1) { t->status = SPITransFailed; - return FALSE; + return false; } t->status = SPITransPending; p->status = SPIIdle; @@ -697,18 +697,18 @@ bool_t spi_slave_register(struct spi_periph *p, struct spi_transaction *t) SpiSetDataSize(p, t->dss); - return TRUE; + return true; } -bool_t spi_slave_wait(struct spi_periph *p) +bool spi_slave_wait(struct spi_periph *p) { if (p->trans_insert_idx == 0) { // no transaction registered - return FALSE; + return false; } // Start waiting SpiSlaveStart(p, p->trans[p->trans_extract_idx]); - return TRUE; + return true; } #endif /* SPI_SLAVE */ diff --git a/sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.c b/sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.c index 528a344ef8..26b9e601f3 100644 --- a/sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.c +++ b/sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.c @@ -107,7 +107,7 @@ static void SSP_ISR(void) __attribute__((naked)); // Functions for the generic device API static int spi_slave_hs_check_free_space(struct spi_slave_hs *p __attribute__((unused)), uint8_t len __attribute__((unused))) { - return TRUE; + return true; } static void spi_slave_hs_transmit(struct spi_slave_hs *p __attribute__((unused)), uint8_t byte) diff --git a/sw/airborne/arch/lpc21/mcu_periph/sys_time_arch.c b/sw/airborne/arch/lpc21/mcu_periph/sys_time_arch.c index 0e0ec59f4c..b14e1282e9 100644 --- a/sw/airborne/arch/lpc21/mcu_periph/sys_time_arch.c +++ b/sw/airborne/arch/lpc21/mcu_periph/sys_time_arch.c @@ -168,7 +168,7 @@ static inline void sys_tick_irq_handler(void) if (sys_time.timer[i].in_use && sys_time.nb_tick >= sys_time.timer[i].end_time) { sys_time.timer[i].end_time += sys_time.timer[i].duration; - sys_time.timer[i].elapsed = TRUE; + sys_time.timer[i].elapsed = true; if (sys_time.timer[i].cb) { sys_time.timer[i].cb(i); } diff --git a/sw/airborne/arch/lpc21/modules/core/trigger_ext_hw.c b/sw/airborne/arch/lpc21/modules/core/trigger_ext_hw.c index 61b235efb3..ffc44bc3fd 100644 --- a/sw/airborne/arch/lpc21/modules/core/trigger_ext_hw.c +++ b/sw/airborne/arch/lpc21/modules/core/trigger_ext_hw.c @@ -36,7 +36,7 @@ void TRIG_ISR() if (msec_of_cpu_ticks(delta_t0_temp) > 10) { trigger_delta_t0 = delta_t0_temp; last = trigger_t0; - trigger_ext_valid = TRUE; + trigger_ext_valid = true; } } @@ -52,6 +52,6 @@ void trigger_ext_init(void) #else #error "trig_ext_hw.h: Unknown PULSE_TYPE" #endif - trigger_ext_valid = FALSE; + trigger_ext_valid = false; } diff --git a/sw/airborne/arch/lpc21/modules/sensors/trig_ext_hw.c b/sw/airborne/arch/lpc21/modules/sensors/trig_ext_hw.c index bd51061a9d..e0ede7b4ca 100644 --- a/sw/airborne/arch/lpc21/modules/sensors/trig_ext_hw.c +++ b/sw/airborne/arch/lpc21/modules/sensors/trig_ext_hw.c @@ -7,7 +7,7 @@ uint32_t trigger_t0; uint32_t delta_t0; -volatile bool_t trig_ext_valid; +volatile bool trig_ext_valid; void TRIG_ISR() @@ -19,7 +19,7 @@ void TRIG_ISR() if (msec_of_cpu_ticks(delta_t0_temp) > 10) { delta_t0 = delta_t0_temp; last = trigger_t0; - trig_ext_valid = TRUE; + trig_ext_valid = true; } } @@ -35,6 +35,6 @@ void trig_ext_init(void) #else #error "trig_ext_hw.h: Unknown PULSE_TYPE" #endif - trig_ext_valid = FALSE; + trig_ext_valid = false; } diff --git a/sw/airborne/arch/lpc21/modules/sensors/trig_ext_hw.h b/sw/airborne/arch/lpc21/modules/sensors/trig_ext_hw.h index 8a03f4935b..b06f0801c4 100644 --- a/sw/airborne/arch/lpc21/modules/sensors/trig_ext_hw.h +++ b/sw/airborne/arch/lpc21/modules/sensors/trig_ext_hw.h @@ -11,7 +11,7 @@ extern uint32_t trigger_t0; extern uint32_t delta_t0; -extern volatile bool_t trig_ext_valid; +extern volatile bool trig_ext_valid; void TRIG_ISR(void); void trig_ext_init(void); diff --git a/sw/airborne/arch/lpc21/subsystems/imu/imu_aspirin_arch.c b/sw/airborne/arch/lpc21/subsystems/imu/imu_aspirin_arch.c index 8077d30f99..b23bf7171d 100644 --- a/sw/airborne/arch/lpc21/subsystems/imu/imu_aspirin_arch.c +++ b/sw/airborne/arch/lpc21/subsystems/imu/imu_aspirin_arch.c @@ -37,7 +37,7 @@ void exti15_10_irq_handler(void) // if(EXTI_GetITStatus(EXTI_Line14) != RESET) // EXTI_ClearITPendingBit(EXTI_Line14); - //imu_aspirin.gyro_eoc = TRUE; + //imu_aspirin.gyro_eoc = true; //imu_aspirin.status = AspirinStatusReadingGyro; } @@ -59,5 +59,5 @@ void exti2_irq_handler(void) void dma1_c4_irq_handler(void) { - //imu_aspirin.accel_available = TRUE; + //imu_aspirin.accel_available = true; } diff --git a/sw/airborne/arch/lpc21/subsystems/imu/imu_crista_arch.c b/sw/airborne/arch/lpc21/subsystems/imu/imu_crista_arch.c index c992f76104..da31fda1e9 100644 --- a/sw/airborne/arch/lpc21/subsystems/imu/imu_crista_arch.c +++ b/sw/airborne/arch/lpc21/subsystems/imu/imu_crista_arch.c @@ -114,7 +114,7 @@ void SPI1_ISR(void) channel++; if (channel > 7 - 1) { channel = 0; - ADS8344_available = TRUE; + ADS8344_available = true; ADS8344Unselect(); } else { send_request(); diff --git a/sw/airborne/arch/lpc21/subsystems/radio_control/spektrum_arch.c b/sw/airborne/arch/lpc21/subsystems/radio_control/spektrum_arch.c index d2d89cedc2..5a49f7303c 100644 --- a/sw/airborne/arch/lpc21/subsystems/radio_control/spektrum_arch.c +++ b/sw/airborne/arch/lpc21/subsystems/radio_control/spektrum_arch.c @@ -22,7 +22,7 @@ #include "subsystems/radio_control.h" #include "subsystems/radio_control/spektrum_arch.h" -bool_t rc_spk_parser_status; +bool rc_spk_parser_status; uint8_t rc_spk_parser_idx; uint8_t rc_spk_parser_buf[RADIO_CONTROL_NB_CHANNEL * 2]; const int16_t rc_spk_throw[RADIO_CONTROL_NB_CHANNEL] = RC_SPK_THROWS; diff --git a/sw/airborne/arch/lpc21/subsystems/radio_control/spektrum_arch.h b/sw/airborne/arch/lpc21/subsystems/radio_control/spektrum_arch.h index 50601186ae..f3f9c7cf85 100644 --- a/sw/airborne/arch/lpc21/subsystems/radio_control/spektrum_arch.h +++ b/sw/airborne/arch/lpc21/subsystems/radio_control/spektrum_arch.h @@ -34,7 +34,7 @@ #define RC_SPK_STA_GOT_SYNC_1 1 #define RC_SPK_STA_GOT_SYNC_2 2 -extern bool_t rc_spk_parser_status; +extern bool rc_spk_parser_status; extern uint8_t rc_spk_parser_idx; extern uint8_t rc_spk_parser_buf[RADIO_CONTROL_NB_CHANNEL * 2]; diff --git a/sw/airborne/arch/lpc21/usb_ser_hw.c b/sw/airborne/arch/lpc21/usb_ser_hw.c index 973db68984..471fb7bfe4 100644 --- a/sw/airborne/arch/lpc21/usb_ser_hw.c +++ b/sw/airborne/arch/lpc21/usb_ser_hw.c @@ -406,7 +406,7 @@ int VCOM_getchar(void) @returns TRUE if len bytes are free */ -bool_t VCOM_check_free_space(uint8_t len) +bool VCOM_check_free_space(uint8_t len) { return (fifo_free(&txfifo) >= len ? TRUE : FALSE); } diff --git a/sw/airborne/arch/sim/baro_MS5534A.h b/sw/airborne/arch/sim/baro_MS5534A.h index d4b5444316..50db3a05ed 100644 --- a/sw/airborne/arch/sim/baro_MS5534A.h +++ b/sw/airborne/arch/sim/baro_MS5534A.h @@ -34,11 +34,11 @@ #if USE_BARO_MS5534A -extern bool_t spi_message_received; -extern bool_t baro_MS5534A_available; +extern bool spi_message_received; +extern bool baro_MS5534A_available; extern uint32_t baro_MS5534A_pressure; extern uint16_t baro_MS5534A_temp; -extern bool_t alt_baro_enabled; +extern bool alt_baro_enabled; extern uint32_t baro_MS5534A_ground_pressure; extern float baro_MS5534A_r; extern float baro_MS5534A_sigma2; diff --git a/sw/airborne/arch/sim/mcu_periph/i2c_arch.c b/sw/airborne/arch/sim/mcu_periph/i2c_arch.c index e84743c9aa..705e00d9f1 100644 --- a/sw/airborne/arch/sim/mcu_periph/i2c_arch.c +++ b/sw/airborne/arch/sim/mcu_periph/i2c_arch.c @@ -27,8 +27,8 @@ #include "mcu_periph/i2c.h" -bool_t i2c_idle(struct i2c_periph *p __attribute__((unused))) { return TRUE; } -bool_t i2c_submit(struct i2c_periph *p __attribute__((unused)), struct i2c_transaction *t __attribute__((unused))) { return TRUE;} +bool i2c_idle(struct i2c_periph *p __attribute__((unused))) { return true; } +bool i2c_submit(struct i2c_periph *p __attribute__((unused)), struct i2c_transaction *t __attribute__((unused))) { return true;} void i2c_event(void) { } void i2c2_setbitrate(int bitrate __attribute__((unused))) { } diff --git a/sw/airborne/arch/sim/mcu_periph/spi_arch.c b/sw/airborne/arch/sim/mcu_periph/spi_arch.c index bd5b72659f..83b5b087a4 100644 --- a/sw/airborne/arch/sim/mcu_periph/spi_arch.c +++ b/sw/airborne/arch/sim/mcu_periph/spi_arch.c @@ -27,7 +27,7 @@ #include "mcu_periph/spi.h" -bool_t spi_submit(struct spi_periph *p __attribute__((unused)), struct spi_transaction *t __attribute__((unused))) { return TRUE;} +bool spi_submit(struct spi_periph *p __attribute__((unused)), struct spi_transaction *t __attribute__((unused))) { return true;} void spi_init_slaves(void) {} @@ -35,7 +35,7 @@ void spi_slave_select(uint8_t slave __attribute__((unused))) {} void spi_slave_unselect(uint8_t slave __attribute__((unused))) {} -bool_t spi_lock(struct spi_periph *p __attribute__((unused)), uint8_t slave __attribute__((unused))) { return TRUE; } +bool spi_lock(struct spi_periph *p __attribute__((unused)), uint8_t slave __attribute__((unused))) { return true; } -bool_t spi_resume(struct spi_periph *p __attribute__((unused)), uint8_t slave __attribute__((unused))) { return TRUE; } +bool spi_resume(struct spi_periph *p __attribute__((unused)), uint8_t slave __attribute__((unused))) { return true; } diff --git a/sw/airborne/arch/sim/mcu_periph/sys_time_arch.c b/sw/airborne/arch/sim/mcu_periph/sys_time_arch.c index b5b69dd82a..22612644bf 100644 --- a/sw/airborne/arch/sim/mcu_periph/sys_time_arch.c +++ b/sw/airborne/arch/sim/mcu_periph/sys_time_arch.c @@ -47,7 +47,7 @@ void sys_tick_handler(void) if (sys_time.timer[i].in_use && sys_time.nb_tick >= sys_time.timer[i].end_time) { sys_time.timer[i].end_time += sys_time.timer[i].duration; - sys_time.timer[i].elapsed = TRUE; + sys_time.timer[i].elapsed = true; if (sys_time.timer[i].cb) { sys_time.timer[i].cb(i); } diff --git a/sw/airborne/arch/sim/modules/core/trigger_ext_hw.c b/sw/airborne/arch/sim/modules/core/trigger_ext_hw.c index 0763981327..6d3db7f317 100644 --- a/sw/airborne/arch/sim/modules/core/trigger_ext_hw.c +++ b/sw/airborne/arch/sim/modules/core/trigger_ext_hw.c @@ -26,6 +26,6 @@ void trigger_ext_init(void) { - trigger_ext_valid = FALSE; + trigger_ext_valid = false; } diff --git a/sw/airborne/arch/sim/modules/ins/ins_arduimu_basic.c b/sw/airborne/arch/sim/modules/ins/ins_arduimu_basic.c index 010fd189f1..88d744b739 100644 --- a/sw/airborne/arch/sim/modules/ins/ins_arduimu_basic.c +++ b/sw/airborne/arch/sim/modules/ins/ins_arduimu_basic.c @@ -15,7 +15,7 @@ struct FloatVect3 arduimu_accel; float ins_roll_neutral; float ins_pitch_neutral; -bool_t arduimu_calibrate_neutrals; +bool arduimu_calibrate_neutrals; // Updates from Ocaml sim extern float sim_phi; diff --git a/sw/airborne/arch/sim/sim_ap.c b/sw/airborne/arch/sim/sim_ap.c index ad6e5a39f4..64b71d95e1 100644 --- a/sw/airborne/arch/sim/sim_ap.c +++ b/sw/airborne/arch/sim/sim_ap.c @@ -35,8 +35,8 @@ uint8_t ir_estim_mode; uint8_t vertical_mode; uint8_t inflight_calib_mode; -bool_t rc_event_1, rc_event_2; -bool_t launch; +bool rc_event_1, rc_event_2; +bool launch; uint8_t gps_nb_ovrn, link_fbw_fbw_nb_err, link_fbw_nb_err; float alt_roll_pgain; float roll_rate_pgain; @@ -138,7 +138,7 @@ value set_datalink_message(value s) dl_buffer[i] = ss[i]; } - dl_msg_available = TRUE; + dl_msg_available = true; DlCheckAndParse(); return Val_unit; diff --git a/sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.c b/sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.c index 1ccacd5851..16fa4b7239 100644 --- a/sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.c +++ b/sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.c @@ -68,7 +68,7 @@ void radio_control_feed(void) RADIO_MODE_NEUTRAL, \ RADIO_MODE_MIN, \ RADIO_MODE_MAX); - ppm_frame_available = TRUE; + ppm_frame_available = true; } #else //RADIO_CONTROL void radio_control_feed(void) {} @@ -84,7 +84,7 @@ value update_rc_channel(value c, value v) value send_ppm(value unit) { - ppm_frame_available = TRUE; + ppm_frame_available = true; return unit; } #else // RADIO_CONTROL diff --git a/sw/airborne/arch/sim/subsystems/radio_control/spektrum_arch.c b/sw/airborne/arch/sim/subsystems/radio_control/spektrum_arch.c index 805d54eb77..3480ecd2b3 100644 --- a/sw/airborne/arch/sim/subsystems/radio_control/spektrum_arch.c +++ b/sw/airborne/arch/sim/subsystems/radio_control/spektrum_arch.c @@ -37,13 +37,13 @@ #include #endif -static bool_t spektrum_available; +static bool spektrum_available; void radio_control_spektrum_try_bind(void) {} void radio_control_impl_init(void) { - spektrum_available = FALSE; + spektrum_available = false; } void RadioControlEventImp(void (*frame_handler)(void)) { @@ -53,7 +53,7 @@ void RadioControlEventImp(void (*frame_handler)(void)) radio_control.status = RC_OK; (*frame_handler)(); } - spektrum_available = FALSE; + spektrum_available = false; } #if USE_NPS @@ -65,7 +65,7 @@ void radio_control_feed(void) radio_control.values[RADIO_YAW] = nps_radio_control.yaw * MAX_PPRZ; radio_control.values[RADIO_THROTTLE] = nps_radio_control.throttle * MAX_PPRZ; radio_control.values[RADIO_MODE] = nps_radio_control.mode * MAX_PPRZ; - spektrum_available = TRUE; + spektrum_available = true; } #else //RADIO_CONTROL void radio_control_feed(void) {} @@ -89,7 +89,7 @@ value update_rc_channel(value c, value v) value send_ppm(value unit) { - spektrum_available = TRUE; + spektrum_available = true; return unit; } #else // RADIO_CONTROL diff --git a/sw/airborne/arch/stm32/led_hw.h b/sw/airborne/arch/stm32/led_hw.h index d5004de98c..2fbd2eaaf2 100644 --- a/sw/airborne/arch/stm32/led_hw.h +++ b/sw/airborne/arch/stm32/led_hw.h @@ -82,11 +82,11 @@ extern uint8_t led_status[NB_LED]; GPIO_CNF_OUTPUT_PUSHPULL, \ GPIO15); \ for(uint8_t _cnt=0; _cnt 20; + const bool shouldAccumulateValue = timeStampDiff > 20; if (shouldAccumulateValue) { adc_watchdog.timeStamp = get_sys_time_msec(); } diff --git a/sw/airborne/arch/stm32/mcu_periph/gpio_arch.c b/sw/airborne/arch/stm32/mcu_periph/gpio_arch.c index f05b23970d..dfe2cd8693 100644 --- a/sw/airborne/arch/stm32/mcu_periph/gpio_arch.c +++ b/sw/airborne/arch/stm32/mcu_periph/gpio_arch.c @@ -103,7 +103,7 @@ void gpio_setup_input_pulldown(uint32_t port, uint16_t gpios) gpio_set_mode(port, GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN, gpios); } -void gpio_setup_pin_af(uint32_t port, uint16_t pin, uint32_t af, bool_t is_output) +void gpio_setup_pin_af(uint32_t port, uint16_t pin, uint32_t af, bool is_output) { gpio_enable_clock(port); /* remap alternate function if needed */ @@ -150,7 +150,7 @@ void gpio_setup_input_pulldown(uint32_t port, uint16_t gpios) gpio_mode_setup(port, GPIO_MODE_INPUT, GPIO_PUPD_PULLDOWN, gpios); } -void gpio_setup_pin_af(uint32_t port, uint16_t pin, uint8_t af, bool_t is_output __attribute__((unused))) +void gpio_setup_pin_af(uint32_t port, uint16_t pin, uint8_t af, bool is_output __attribute__((unused))) { gpio_enable_clock(port); gpio_set_af(port, af, pin); diff --git a/sw/airborne/arch/stm32/mcu_periph/gpio_arch.h b/sw/airborne/arch/stm32/mcu_periph/gpio_arch.h index 35a9a9918f..ee8e7b48f2 100644 --- a/sw/airborne/arch/stm32/mcu_periph/gpio_arch.h +++ b/sw/airborne/arch/stm32/mcu_periph/gpio_arch.h @@ -66,9 +66,9 @@ extern void gpio_setup_input_pulldown(uint32_t port, uint16_t gpios); * This is an STM32 specific helper funtion and should only be used in stm32 arch code. */ #if defined(STM32F1) -extern void gpio_setup_pin_af(uint32_t port, uint16_t pin, uint32_t af, bool_t is_output); +extern void gpio_setup_pin_af(uint32_t port, uint16_t pin, uint32_t af, bool is_output); #else -extern void gpio_setup_pin_af(uint32_t port, uint16_t pin, uint8_t af, bool_t is_output); +extern void gpio_setup_pin_af(uint32_t port, uint16_t pin, uint8_t af, bool is_output); #endif /** diff --git a/sw/airborne/arch/stm32/mcu_periph/i2c_arch.c b/sw/airborne/arch/stm32/mcu_periph/i2c_arch.c index ef4b29b758..ce827d2da3 100644 --- a/sw/airborne/arch/stm32/mcu_periph/i2c_arch.c +++ b/sw/airborne/arch/stm32/mcu_periph/i2c_arch.c @@ -1283,9 +1283,9 @@ static inline void i2c_scl_toggle(uint32_t i2c) #endif } -static inline bool_t i2c_sda_get(uint32_t i2c) +static inline bool i2c_sda_get(uint32_t i2c) { - bool_t res = FALSE; + bool res = false; #if USE_I2C1 if (i2c == I2C1) { res = gpio_get(I2C1_GPIO_PORT, I2C1_GPIO_SDA); @@ -1415,10 +1415,10 @@ void i2c_event(void) ///////////////////////////////////////////////////////// // Implement Interface Functions -bool_t i2c_submit(struct i2c_periph *periph, struct i2c_transaction *t) +bool i2c_submit(struct i2c_periph *periph, struct i2c_transaction *t) { if (periph->watchdog > WD_DELAY) { - return FALSE; + return false; } uint8_t temp; @@ -1428,7 +1428,7 @@ bool_t i2c_submit(struct i2c_periph *periph, struct i2c_transaction *t) // queue full periph->errors->queue_full_cnt++; t->status = I2CTransFailed; - return FALSE; + return false; } t->status = I2CTransPending; @@ -1462,10 +1462,10 @@ bool_t i2c_submit(struct i2c_periph *periph, struct i2c_transaction *t) /* else it will be started by the interrupt handler when the previous transactions completes */ __enable_irq(); - return TRUE; + return true; } -bool_t i2c_idle(struct i2c_periph *periph) +bool i2c_idle(struct i2c_periph *periph) { // This is actually a difficult function: // -simply reading the status flags can clear bits and corrupt the transaction @@ -1475,7 +1475,7 @@ bool_t i2c_idle(struct i2c_periph *periph) #ifdef I2C_DEBUG_LED #if USE_I2C1 if (periph == &i2c1) { - return TRUE; + return true; } #endif #endif @@ -1484,6 +1484,6 @@ bool_t i2c_idle(struct i2c_periph *periph) if (periph->status == I2CIdle) { return !(BIT_X_IS_SET_IN_REG(I2C_SR2_BUSY, I2C_SR2(i2c))); } else { - return FALSE; + return false; } } diff --git a/sw/airborne/arch/stm32/mcu_periph/pwm_input_arch.c b/sw/airborne/arch/stm32/mcu_periph/pwm_input_arch.c index 0da7150250..140d3bdec0 100644 --- a/sw/airborne/arch/stm32/mcu_periph/pwm_input_arch.c +++ b/sw/airborne/arch/stm32/mcu_periph/pwm_input_arch.c @@ -208,12 +208,12 @@ void tim1_cc_isr(void) { if ((TIM1_SR & TIM1_CC_IF_PERIOD) != 0) { timer_clear_flag(TIM1, TIM1_CC_IF_PERIOD); pwm_input_period_tics[TIM1_PWM_INPUT_IDX] = TIM1_CCR_PERIOD; - pwm_input_period_valid[TIM1_PWM_INPUT_IDX] = TRUE; + pwm_input_period_valid[TIM1_PWM_INPUT_IDX] = true; } if ((TIM1_SR & TIM1_CC_IF_DUTY) != 0) { timer_clear_flag(TIM1, TIM1_CC_IF_DUTY); pwm_input_duty_tics[TIM1_PWM_INPUT_IDX] = TIM1_CCR_DUTY; - pwm_input_duty_valid[TIM1_PWM_INPUT_IDX] = TRUE; + pwm_input_duty_valid[TIM1_PWM_INPUT_IDX] = true; } } @@ -225,12 +225,12 @@ void tim2_isr(void) { if ((TIM2_SR & TIM2_CC_IF_PERIOD) != 0) { timer_clear_flag(TIM2, TIM2_CC_IF_PERIOD); pwm_input_period_tics[TIM2_PWM_INPUT_IDX] = TIM2_CCR_PERIOD; - pwm_input_period_valid[TIM2_PWM_INPUT_IDX] = TRUE; + pwm_input_period_valid[TIM2_PWM_INPUT_IDX] = true; } if ((TIM2_SR & TIM2_CC_IF_DUTY) != 0) { timer_clear_flag(TIM2, TIM2_CC_IF_DUTY); pwm_input_duty_tics[TIM2_PWM_INPUT_IDX] = TIM2_CCR_DUTY; - pwm_input_duty_valid[TIM2_PWM_INPUT_IDX] = TRUE; + pwm_input_duty_valid[TIM2_PWM_INPUT_IDX] = true; } if ((TIM2_SR & TIM_SR_UIF) != 0) { timer_clear_flag(TIM2, TIM_SR_UIF); @@ -246,12 +246,12 @@ void tim3_isr(void) { if ((TIM3_SR & TIM3_CC_IF_PERIOD) != 0) { timer_clear_flag(TIM3, TIM3_CC_IF_PERIOD); pwm_input_period_tics[TIM3_PWM_INPUT_IDX] = TIM3_CCR_PERIOD; - pwm_input_period_valid[TIM3_PWM_INPUT_IDX] = TRUE; + pwm_input_period_valid[TIM3_PWM_INPUT_IDX] = true; } if ((TIM3_SR & TIM3_CC_IF_DUTY) != 0) { timer_clear_flag(TIM3, TIM3_CC_IF_DUTY); pwm_input_duty_tics[TIM3_PWM_INPUT_IDX] = TIM3_CCR_DUTY; - pwm_input_duty_valid[TIM3_PWM_INPUT_IDX] = TRUE; + pwm_input_duty_valid[TIM3_PWM_INPUT_IDX] = true; } if ((TIM3_SR & TIM_SR_UIF) != 0) { timer_clear_flag(TIM3, TIM_SR_UIF); @@ -267,12 +267,12 @@ void tim5_isr(void) { if ((TIM5_SR & TIM5_CC_IF_PERIOD) != 0) { timer_clear_flag(TIM5, TIM5_CC_IF_PERIOD); pwm_input_period_tics[TIM5_PWM_INPUT_IDX] = TIM5_CCR_PERIOD; - pwm_input_period_valid[TIM5_PWM_INPUT_IDX] = TRUE; + pwm_input_period_valid[TIM5_PWM_INPUT_IDX] = true; } if ((TIM5_SR & TIM5_CC_IF_DUTY) != 0) { timer_clear_flag(TIM5, TIM5_CC_IF_DUTY); pwm_input_duty_tics[TIM5_PWM_INPUT_IDX] = TIM5_CCR_DUTY; - pwm_input_duty_valid[TIM5_PWM_INPUT_IDX] = TRUE; + pwm_input_duty_valid[TIM5_PWM_INPUT_IDX] = true; } if ((TIM5_SR & TIM_SR_UIF) != 0) { timer_clear_flag(TIM5, TIM_SR_UIF); @@ -300,12 +300,12 @@ void tim8_cc_isr(void) { if ((TIM8_SR & TIM8_CC_IF_PERIOD) != 0) { timer_clear_flag(TIM8, TIM8_CC_IF_PERIOD); pwm_input_period_tics[TIM8_PWM_INPUT_IDX] = TIM8_CCR_PERIOD; - pwm_input_period_valid[TIM8_PWM_INPUT_IDX] = TRUE; + pwm_input_period_valid[TIM8_PWM_INPUT_IDX] = true; } if ((TIM8_SR & TIM8_CC_IF_DUTY) != 0) { timer_clear_flag(TIM8, TIM8_CC_IF_DUTY); pwm_input_duty_tics[TIM8_PWM_INPUT_IDX] = TIM8_CCR_DUTY; - pwm_input_duty_valid[TIM8_PWM_INPUT_IDX] = TRUE; + pwm_input_duty_valid[TIM8_PWM_INPUT_IDX] = true; } } @@ -318,12 +318,12 @@ void tim1_brk_tim9_isr(void) { if ((TIM9_SR & TIM9_CC_IF_PERIOD) != 0) { timer_clear_flag(TIM9, TIM9_CC_IF_PERIOD); pwm_input_period_tics[TIM9_PWM_INPUT_IDX] = TIM9_CCR_PERIOD; - pwm_input_period_valid[TIM9_PWM_INPUT_IDX] = TRUE; + pwm_input_period_valid[TIM9_PWM_INPUT_IDX] = true; } if ((TIM9_SR & TIM9_CC_IF_DUTY) != 0) { timer_clear_flag(TIM9, TIM9_CC_IF_DUTY); pwm_input_duty_tics[TIM9_PWM_INPUT_IDX] = TIM9_CCR_DUTY; - pwm_input_duty_valid[TIM9_PWM_INPUT_IDX] = TRUE; + pwm_input_duty_valid[TIM9_PWM_INPUT_IDX] = true; } if ((TIM9_SR & TIM_SR_UIF) != 0) { timer_clear_flag(TIM9, TIM_SR_UIF); diff --git a/sw/airborne/arch/stm32/mcu_periph/spi_arch.c b/sw/airborne/arch/stm32/mcu_periph/spi_arch.c index 011ff21082..521a4e93da 100644 --- a/sw/airborne/arch/stm32/mcu_periph/spi_arch.c +++ b/sw/airborne/arch/stm32/mcu_periph/spi_arch.c @@ -97,9 +97,9 @@ struct spi_periph_dma { uint8_t rx_nvic_irq; ///< receive interrupt uint8_t tx_nvic_irq; ///< transmit interrupt uint16_t tx_dummy_buf; ///< dummy tx buffer for receive only cases - bool_t tx_extra_dummy_dma; ///< extra tx dummy dma flag for tx_len < rx_len + bool tx_extra_dummy_dma; ///< extra tx dummy dma flag for tx_len < rx_len uint16_t rx_dummy_buf; ///< dummy rx buffer for receive only cases - bool_t rx_extra_dummy_dma; ///< extra rx dummy dma flag for tx_len > rx_len + bool rx_extra_dummy_dma; ///< extra rx dummy dma flag for tx_len > rx_len struct locm3_spi_comm comm; ///< current communication parameters uint8_t comm_sig; ///< comm config signature used to check for changes }; @@ -121,7 +121,7 @@ static struct spi_periph_dma spi3_dma; static void spi_start_dma_transaction(struct spi_periph *periph, struct spi_transaction *_trans); static void spi_next_transaction(struct spi_periph *periph); static void spi_configure_dma(uint32_t dma, uint32_t rcc_dma, uint8_t chan, uint32_t periph_addr, uint32_t buf_addr, - uint16_t len, enum SPIDataSizeSelect dss, bool_t increment); + uint16_t len, enum SPIDataSizeSelect dss, bool increment); static void __attribute__((unused)) process_rx_dma_interrupt(struct spi_periph *periph); static void __attribute__((unused)) process_tx_dma_interrupt(struct spi_periph *periph); static void spi_arch_int_enable(struct spi_periph *spi); @@ -260,14 +260,14 @@ void spi_init_slaves(void) * Implementation of the generic SPI functions * *****************************************************************************/ -bool_t spi_submit(struct spi_periph *p, struct spi_transaction *t) +bool spi_submit(struct spi_periph *p, struct spi_transaction *t) { uint8_t idx; idx = p->trans_insert_idx + 1; if (idx >= SPI_TRANSACTION_QUEUE_LEN) { idx = 0; } if ((idx == p->trans_extract_idx) || ((t->input_length == 0) && (t->output_length == 0))) { t->status = SPITransFailed; - return FALSE; /* queue full or input_length and output_length both 0 */ + return false; /* queue full or input_length and output_length both 0 */ // TODO can't tell why it failed here if it does } @@ -287,22 +287,22 @@ bool_t spi_submit(struct spi_periph *p, struct spi_transaction *t) } //FIXME spi_arch_int_enable(p); - return TRUE; + return true; } -bool_t spi_lock(struct spi_periph *p, uint8_t slave) +bool spi_lock(struct spi_periph *p, uint8_t slave) { spi_arch_int_disable(p); if (slave < 254 && p->suspend == 0) { p->suspend = slave + 1; // 0 is reserved for unlock state spi_arch_int_enable(p); - return TRUE; + return true; } spi_arch_int_enable(p); - return FALSE; + return false; } -bool_t spi_resume(struct spi_periph *p, uint8_t slave) +bool spi_resume(struct spi_periph *p, uint8_t slave) { spi_arch_int_disable(p); if (p->suspend == slave + 1) { @@ -312,10 +312,10 @@ bool_t spi_resume(struct spi_periph *p, uint8_t slave) spi_start_dma_transaction(p, p->trans[p->trans_extract_idx]); } spi_arch_int_enable(p); - return TRUE; + return true; } spi_arch_int_enable(p); - return FALSE; + return false; } @@ -456,7 +456,7 @@ static void set_comm_from_transaction(struct locm3_spi_comm *c, struct spi_trans * *****************************************************************************/ static void spi_configure_dma(uint32_t dma, uint32_t rcc_dma, uint8_t chan, uint32_t periph_addr, uint32_t buf_addr, - uint16_t len, enum SPIDataSizeSelect dss, bool_t increment) + uint16_t len, enum SPIDataSizeSelect dss, bool increment) { rcc_periph_clock_enable(rcc_dma); #ifdef STM32F1 @@ -603,7 +603,7 @@ static void spi_start_dma_transaction(struct spi_periph *periph, struct spi_tran /* use dummy rx dma for the rest */ if (trans->output_length > trans->input_length) { /* Enable use of second dma transfer with dummy buffer (cleared in ISR) */ - dma->rx_extra_dummy_dma = TRUE; + dma->rx_extra_dummy_dma = true; } } #ifdef STM32F1 @@ -634,7 +634,7 @@ static void spi_start_dma_transaction(struct spi_periph *periph, struct spi_tran (uint32_t)trans->output_buf, trans->output_length, trans->dss, TRUE); if (trans->input_length > trans->output_length) { /* Enable use of second dma transfer with dummy buffer (cleared in ISR) */ - dma->tx_extra_dummy_dma = TRUE; + dma->tx_extra_dummy_dma = true; } } #ifdef STM32F1 @@ -696,9 +696,9 @@ void spi1_arch_init(void) spi1_dma.tx_nvic_irq = NVIC_DMA2_STREAM5_IRQ; #endif spi1_dma.tx_dummy_buf = 0; - spi1_dma.tx_extra_dummy_dma = FALSE; + spi1_dma.tx_extra_dummy_dma = false; spi1_dma.rx_dummy_buf = 0; - spi1_dma.rx_extra_dummy_dma = FALSE; + spi1_dma.rx_extra_dummy_dma = false; // set the default configuration set_default_comm_config(&spi1_dma.comm); @@ -784,9 +784,9 @@ void spi2_arch_init(void) spi2_dma.tx_nvic_irq = NVIC_DMA1_STREAM4_IRQ; #endif spi2_dma.tx_dummy_buf = 0; - spi2_dma.tx_extra_dummy_dma = FALSE; + spi2_dma.tx_extra_dummy_dma = false; spi2_dma.rx_dummy_buf = 0; - spi2_dma.rx_extra_dummy_dma = FALSE; + spi2_dma.rx_extra_dummy_dma = false; // set the default configuration set_default_comm_config(&spi2_dma.comm); @@ -873,9 +873,9 @@ void spi3_arch_init(void) spi3_dma.tx_nvic_irq = NVIC_DMA1_STREAM5_IRQ; #endif spi3_dma.tx_dummy_buf = 0; - spi3_dma.tx_extra_dummy_dma = FALSE; + spi3_dma.tx_extra_dummy_dma = false; spi3_dma.rx_dummy_buf = 0; - spi3_dma.rx_extra_dummy_dma = FALSE; + spi3_dma.rx_extra_dummy_dma = false; // set the default configuration set_default_comm_config(&spi3_dma.comm); @@ -1087,7 +1087,7 @@ void process_rx_dma_interrupt(struct spi_periph * periph) { */ /* Reset the flag so this only happens once in a transaction */ - dma->rx_extra_dummy_dma = FALSE; + dma->rx_extra_dummy_dma = false; /* Use the difference in length between rx and tx */ uint16_t len_remaining = trans->output_length - trans->input_length; @@ -1161,7 +1161,7 @@ void process_tx_dma_interrupt(struct spi_periph * periph) { */ /* Reset the flag so this only happens once in a transaction */ - dma->tx_extra_dummy_dma = FALSE; + dma->tx_extra_dummy_dma = false; /* Use the difference in length between tx and rx */ uint16_t len_remaining = trans->input_length - trans->output_length; @@ -1236,9 +1236,9 @@ void spi1_slave_arch_init(void) { spi1_dma.tx_nvic_irq = NVIC_DMA2_STREAM5_IRQ; #endif spi1_dma.tx_dummy_buf = 0; - spi1_dma.tx_extra_dummy_dma = FALSE; + spi1_dma.tx_extra_dummy_dma = false; spi1_dma.rx_dummy_buf = 0; - spi1_dma.rx_extra_dummy_dma = FALSE; + spi1_dma.rx_extra_dummy_dma = false; // set the default configuration set_default_comm_config(&spi1_dma.comm); @@ -1362,9 +1362,9 @@ void spi2_slave_arch_init(void) { spi2_dma.tx_nvic_irq = NVIC_DMA1_STREAM4_IRQ; #endif spi2_dma.tx_dummy_buf = 0; - spi2_dma.tx_extra_dummy_dma = FALSE; + spi2_dma.tx_extra_dummy_dma = false; spi2_dma.rx_dummy_buf = 0; - spi2_dma.rx_extra_dummy_dma = FALSE; + spi2_dma.rx_extra_dummy_dma = false; // set the default configuration set_default_comm_config(&spi2_dma.comm); @@ -1491,9 +1491,9 @@ void spi3_slave_arch_init(void) { spi3_dma.tx_nvic_irq = NVIC_DMA1_STREAM5_IRQ; #endif spi3_dma.tx_dummy_buf = 0; - spi3_dma.tx_extra_dummy_dma = FALSE; + spi3_dma.tx_extra_dummy_dma = false; spi3_dma.rx_dummy_buf = 0; - spi3_dma.rx_extra_dummy_dma = FALSE; + spi3_dma.rx_extra_dummy_dma = false; // set the default configuration set_default_comm_config(&spi3_dma.comm); @@ -1621,7 +1621,7 @@ static void spi_slave_set_config(struct spi_periph * periph, struct spi_transact * Therefore, to ensure that the first byte of your data will be set, you have to set the transmit buffer before you call * this function */ -bool_t spi_slave_register(struct spi_periph * periph, struct spi_transaction * trans) { +bool spi_slave_register(struct spi_periph * periph, struct spi_transaction * trans) { struct spi_periph_dma *dma = periph->init_struct; /* Store local copy to notify of the results */ @@ -1687,7 +1687,7 @@ bool_t spi_slave_register(struct spi_periph * periph, struct spi_transaction * t /* enable dma interrupt */ spi_arch_int_enable(periph); - return TRUE; + return true; } void process_slave_rx_dma_interrupt(struct spi_periph * periph) { diff --git a/sw/airborne/arch/stm32/mcu_periph/sys_time_arch.c b/sw/airborne/arch/stm32/mcu_periph/sys_time_arch.c index 99dd072708..d57644e837 100644 --- a/sw/airborne/arch/stm32/mcu_periph/sys_time_arch.c +++ b/sw/airborne/arch/stm32/mcu_periph/sys_time_arch.c @@ -89,7 +89,7 @@ void sys_tick_handler(void) if (sys_time.timer[i].in_use && sys_time.nb_tick >= sys_time.timer[i].end_time) { sys_time.timer[i].end_time += sys_time.timer[i].duration; - sys_time.timer[i].elapsed = TRUE; + sys_time.timer[i].elapsed = true; if (sys_time.timer[i].cb) { sys_time.timer[i].cb(i); } diff --git a/sw/airborne/arch/stm32/mcu_periph/uart_arch.c b/sw/airborne/arch/stm32/mcu_periph/uart_arch.c index 861a942323..8a17599095 100644 --- a/sw/airborne/arch/stm32/mcu_periph/uart_arch.c +++ b/sw/airborne/arch/stm32/mcu_periph/uart_arch.c @@ -89,7 +89,7 @@ void uart_periph_set_bits_stop_parity(struct uart_periph *p, uint8_t bits, uint8 } } -void uart_periph_set_mode(struct uart_periph *p, bool_t tx_enabled, bool_t rx_enabled, bool_t hw_flow_control) +void uart_periph_set_mode(struct uart_periph *p, bool tx_enabled, bool rx_enabled, bool hw_flow_control) { uint32_t mode = 0; if (tx_enabled) { @@ -125,7 +125,7 @@ void uart_put_byte(struct uart_periph *p, uint8_t data) p->tx_buf[p->tx_insert_idx] = data; p->tx_insert_idx = temp; } else { // no, set running flag and write to output register - p->tx_running = TRUE; + p->tx_running = true; usart_send((uint32_t)p->reg_addr, data); } @@ -144,7 +144,7 @@ static inline void usart_isr(struct uart_periph *p) p->tx_extract_idx++; p->tx_extract_idx %= UART_TX_BUFFER_SIZE; } else { - p->tx_running = FALSE; // clear running flag + p->tx_running = false; // clear running flag USART_CR1((uint32_t)p->reg_addr) &= ~USART_CR1_TXEIE; // Disable TX interrupt } } diff --git a/sw/airborne/arch/stm32/subsystems/imu/imu_aspirin_arch.c b/sw/airborne/arch/stm32/subsystems/imu/imu_aspirin_arch.c index 958a773a72..abaf9f902f 100644 --- a/sw/airborne/arch/stm32/subsystems/imu/imu_aspirin_arch.c +++ b/sw/airborne/arch/stm32/subsystems/imu/imu_aspirin_arch.c @@ -97,7 +97,7 @@ void exti15_10_isr(void) exti_reset_request(EXTI14); #ifdef ASPIRIN_USE_GYRO_INT - imu_aspirin.gyro_eoc = TRUE; + imu_aspirin.gyro_eoc = true; imu_aspirin.status = AspirinStatusReadingGyro; #endif diff --git a/sw/airborne/arch/stm32/subsystems/imu/imu_crista_arch.c b/sw/airborne/arch/stm32/subsystems/imu/imu_crista_arch.c index 9dca3e860a..486cb57fc9 100644 --- a/sw/airborne/arch/stm32/subsystems/imu/imu_crista_arch.c +++ b/sw/airborne/arch/stm32/subsystems/imu/imu_crista_arch.c @@ -160,7 +160,7 @@ void dma1_c4_irq_handler(void) ADS8344_values[channel] = (buf_in[1] << 8 | buf_in[2]) << 1 | buf_in[3] >> 7; channel++; if (channel > 6) { - ADS8344_available = TRUE; + ADS8344_available = true; ADS8344Unselect(); DMA_ITConfig(DMA1_Channel4, DMA_IT_TC, DISABLE); /* Disable SPI_2 Rx and TX request */ diff --git a/sw/airborne/arch/stm32/subsystems/imu/imu_krooz_sd_arch.c b/sw/airborne/arch/stm32/subsystems/imu/imu_krooz_sd_arch.c index 24659b0a3c..ad5c508669 100644 --- a/sw/airborne/arch/stm32/subsystems/imu/imu_krooz_sd_arch.c +++ b/sw/airborne/arch/stm32/subsystems/imu/imu_krooz_sd_arch.c @@ -30,10 +30,10 @@ void exti9_5_isr(void) /* clear EXTI */ if (EXTI_PR & EXTI6) { exti_reset_request(EXTI6); - imu_krooz.hmc_eoc = TRUE; + imu_krooz.hmc_eoc = true; } if (EXTI_PR & EXTI5) { exti_reset_request(EXTI5); - imu_krooz.mpu_eoc = TRUE; + imu_krooz.mpu_eoc = true; } } diff --git a/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c b/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c index 65fddebf4c..e016973889 100644 --- a/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c +++ b/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c @@ -324,7 +324,7 @@ void radio_control_impl_init(void) * *****************************************************************************/ -static inline void SpektrumParser(uint8_t _c, SpektrumStateType *spektrum_state, bool_t secondary_receiver) +static inline void SpektrumParser(uint8_t _c, SpektrumStateType *spektrum_state, bool secondary_receiver) { @@ -530,6 +530,8 @@ void RadioControlEventImp(void (*frame_handler)(void)) */ for (int i = 0; i < Min(RADIO_CONTROL_NB_CHANNEL, (MaxChannelNum + 1)); i++) { radio_control.values[i] = SpektrumBuf[i]; + //Only values between +-MAX_PPRZ are allowed + Bound(radio_control.values[i], -MAX_PPRZ, MAX_PPRZ); if (i == RADIO_THROTTLE) { radio_control.values[i] += MAX_PPRZ; radio_control.values[i] /= 2; diff --git a/sw/airborne/arch/stm32/usb_ser_hw.c b/sw/airborne/arch/stm32/usb_ser_hw.c index 02b5d44fa0..c2c30d2e76 100644 --- a/sw/airborne/arch/stm32/usb_ser_hw.c +++ b/sw/airborne/arch/stm32/usb_ser_hw.c @@ -61,8 +61,8 @@ static fifo_t txfifo; static fifo_t rxfifo; void fifo_init(fifo_t *fifo, uint8_t *buf); -bool_t fifo_put(fifo_t *fifo, uint8_t c); -bool_t fifo_get(fifo_t *fifo, uint8_t *pc); +bool fifo_put(fifo_t *fifo, uint8_t c); +bool fifo_get(fifo_t *fifo, uint8_t *pc); int fifo_avail(fifo_t *fifo); int fifo_free(fifo_t *fifo); int tx_timeout; // tmp work around for usbd_ep_stall_get from, this function does not always seem to work @@ -286,12 +286,12 @@ static void cdcacm_data_rx_cb(usbd_device *usbd_dev, uint8_t ep) } // store USB connection status -static bool_t usb_connected; +static bool usb_connected; // use suspend callback to detect disconnect static void suspend_cb(void) { - usb_connected = FALSE; + usb_connected = false; } /** @@ -312,7 +312,7 @@ static void cdcacm_set_config(usbd_device *usbd_dev, uint16_t wValue) cdcacm_control_request); // use config and suspend callback to detect connect - usb_connected = TRUE; + usb_connected = true; usbd_register_suspend_callback(usbd_dev, suspend_cb); } @@ -326,7 +326,7 @@ void fifo_init(fifo_t *fifo, uint8_t *buf) -bool_t fifo_put(fifo_t *fifo, uint8_t c) +bool fifo_put(fifo_t *fifo, uint8_t c) { int next; @@ -334,23 +334,23 @@ bool_t fifo_put(fifo_t *fifo, uint8_t c) next = (fifo->head + 1) % VCOM_FIFO_SIZE; if (next == fifo->tail) { // full - return FALSE; + return false; } fifo->buf[fifo->head] = c; fifo->head = next; - return TRUE; + return true; } -bool_t fifo_get(fifo_t *fifo, uint8_t *pc) +bool fifo_get(fifo_t *fifo, uint8_t *pc) { int next; // check if FIFO has data if (fifo->head == fifo->tail) { - return FALSE; + return false; } next = (fifo->tail + 1) % VCOM_FIFO_SIZE; @@ -358,7 +358,7 @@ bool_t fifo_get(fifo_t *fifo, uint8_t *pc) *pc = fifo->buf[fifo->tail]; fifo->tail = next; - return TRUE; + return true; } @@ -423,7 +423,7 @@ int VCOM_getchar(void) * Checks if buffer free in VCOM buffer * @returns TRUE if len bytes are free */ -bool_t VCOM_check_free_space(uint8_t len) +bool VCOM_check_free_space(uint8_t len) { return (fifo_free(&txfifo) >= len ? TRUE : FALSE); } @@ -552,7 +552,7 @@ void VCOM_init(void) usbd_register_set_config_callback(my_usbd_dev, cdcacm_set_config); // disconnected by default - usb_connected = FALSE; + usb_connected = false; // Configure generic device usb_serial.device.periph = (void *)(&usb_serial); diff --git a/sw/airborne/boards/apogee/baro_board.c b/sw/airborne/boards/apogee/baro_board.c index 00d1368b86..4f751321f4 100644 --- a/sw/airborne/boards/apogee/baro_board.c +++ b/sw/airborne/boards/apogee/baro_board.c @@ -41,7 +41,7 @@ #include "sdLog.h" #include "subsystems/chibios-libopencm3/chibios_sdlog.h" #include "subsystems/gps.h" -bool_t log_apogee_baro_started; +bool log_apogee_baro_started; #endif @@ -83,7 +83,7 @@ void baro_init(void) startup_cnt = BARO_STARTUP_COUNTER; #if APOGEE_BARO_SDLOG - log_apogee_baro_started = FALSE; + log_apogee_baro_started = false; #endif } @@ -97,7 +97,7 @@ void baro_periodic(void) if (startup_cnt > 0 && apogee_baro.data_available) { // Run some loops to get correct readings from the adc --startup_cnt; - apogee_baro.data_available = FALSE; + apogee_baro.data_available = false; #ifdef BARO_LED LED_TOGGLE(BARO_LED); if (startup_cnt == 0) { @@ -118,13 +118,13 @@ void apogee_baro_event(void) AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure); float temp = apogee_baro.temperature / 16.0f; AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, temp); - apogee_baro.data_available = FALSE; + apogee_baro.data_available = false; #if APOGEE_BARO_SDLOG if (pprzLogFile != -1) { if (!log_apogee_baro_started) { sdLogWriteLog(pprzLogFile, "APOGEE_BARO: Pres(Pa) Temp(degC) GPS_fix TOW(ms) Week Lat(1e7deg) Lon(1e7deg) HMSL(mm) gpseed(cm/s) course(1e7deg) climb(cm/s)\n"); - log_apogee_baro_started = TRUE; + log_apogee_baro_started = true; } sdLogWriteLog(pprzLogFile, "apogee_baro: %9.4f %9.4f %d %d %d %d %d %d %d %d %d\n", pressure,temp, diff --git a/sw/airborne/boards/apogee/chibios-libopencm3/board.c b/sw/airborne/boards/apogee/chibios-libopencm3/board.c index 760b3fc302..f202fbf86b 100644 --- a/sw/airborne/boards/apogee/chibios-libopencm3/board.c +++ b/sw/airborne/boards/apogee/chibios-libopencm3/board.c @@ -64,15 +64,15 @@ void __early_init(void) { /** * */ -bool_t sdc_lld_is_write_protected(SDCDriver *sdcp) { +bool sdc_lld_is_write_protected(SDCDriver *sdcp) { (void)sdcp; - return FALSE; + return false; } /** * */ -bool_t sdc_lld_is_card_inserted(SDCDriver *sdcp) { +bool sdc_lld_is_card_inserted(SDCDriver *sdcp) { (void)sdcp; return !palReadPad(GPIOB, GPIOB_SDIO_DETECT); } @@ -86,21 +86,21 @@ bool_t sdc_lld_is_card_inserted(SDCDriver *sdcp) { /** * @brief MMC_SPI card detection. */ -bool_t mmc_lld_is_card_inserted(MMCDriver *mmcp) { +bool mmc_lld_is_card_inserted(MMCDriver *mmcp) { (void)mmcp; /* TODO: Fill the implementation.*/ - return TRUE; + return true; } /** * @brief MMC_SPI card write protection detection. */ -bool_t mmc_lld_is_write_protected(MMCDriver *mmcp) { +bool mmc_lld_is_write_protected(MMCDriver *mmcp) { (void)mmcp; /* TODO: Fill the implementation.*/ - return FALSE; + return false; } #endif diff --git a/sw/airborne/boards/apogee/chibios-libopencm3/chconf.h b/sw/airborne/boards/apogee/chibios-libopencm3/chconf.h index e7929309ba..34158a3b85 100644 --- a/sw/airborne/boards/apogee/chibios-libopencm3/chconf.h +++ b/sw/airborne/boards/apogee/chibios-libopencm3/chconf.h @@ -511,7 +511,7 @@ #define SYSTEM_TICK_EVENT_HOOK() { \ /* System tick event code here.*/ \ void sys_tick_handler (void); \ - extern bool_t pprzReady; \ + extern bool pprzReady; \ if (pprzReady == TRUE) sys_tick_handler (); \ } #endif diff --git a/sw/airborne/boards/apogee/imu_apogee.c b/sw/airborne/boards/apogee/imu_apogee.c index 19b6fdfe1c..8ca65bac7e 100644 --- a/sw/airborne/boards/apogee/imu_apogee.c +++ b/sw/airborne/boards/apogee/imu_apogee.c @@ -81,10 +81,10 @@ PRINT_CONFIG_VAR(APOGEE_MAG_FREQ) PRINT_CONFIG_VAR(MAG_PRESCALER) // mag config will be done later in bypass mode -bool_t configure_mag_slave(Mpu60x0ConfigSet mpu_set, void *mpu); -bool_t configure_mag_slave(Mpu60x0ConfigSet mpu_set __attribute__((unused)), void *mpu __attribute__((unused))) +bool configure_mag_slave(Mpu60x0ConfigSet mpu_set, void *mpu); +bool configure_mag_slave(Mpu60x0ConfigSet mpu_set __attribute__((unused)), void *mpu __attribute__((unused))) { - return TRUE; + return true; } #endif @@ -92,10 +92,10 @@ bool_t configure_mag_slave(Mpu60x0ConfigSet mpu_set __attribute__((unused)), voi struct ImuApogee imu_apogee; // baro config will be done later in bypass mode -bool_t configure_baro_slave(Mpu60x0ConfigSet mpu_set, void *mpu); -bool_t configure_baro_slave(Mpu60x0ConfigSet mpu_set __attribute__((unused)), void *mpu __attribute__((unused))) +bool configure_baro_slave(Mpu60x0ConfigSet mpu_set, void *mpu); +bool configure_baro_slave(Mpu60x0ConfigSet mpu_set __attribute__((unused)), void *mpu __attribute__((unused))) { - return TRUE; + return true; } void imu_impl_init(void) @@ -111,7 +111,7 @@ void imu_impl_init(void) // set MPU in bypass mode for the baro imu_apogee.mpu.config.nb_slaves = 1; imu_apogee.mpu.config.slaves[0].configure = &configure_baro_slave; - imu_apogee.mpu.config.i2c_bypass = TRUE; + imu_apogee.mpu.config.i2c_bypass = true; #if APOGEE_USE_MPU9150 // if using MPU9150, internal mag needs to be configured ak8975_init(&imu_apogee.ak, &(IMU_APOGEE_I2C_DEV), AK8975_I2C_SLV_ADDR); @@ -161,7 +161,7 @@ void imu_apogee_event(void) (int32_t)(-imu_apogee.mpu.data_accel.value[IMU_APOGEE_CHAN_Z]) }; VECT3_COPY(imu.accel_unscaled, accel); - imu_apogee.mpu.data_available = FALSE; + imu_apogee.mpu.data_available = false; imu_scale_gyro(&imu); imu_scale_accel(&imu); AbiSendMsgIMU_GYRO_INT32(IMU_BOARD_ID, now_ts, &imu.gyro); @@ -177,7 +177,7 @@ void imu_apogee_event(void) (int32_t)( imu_apogee.ak.data.value[IMU_APOGEE_CHAN_Z]) }; VECT3_COPY(imu.mag_unscaled, mag); - imu_apogee.ak.data_available = FALSE; + imu_apogee.ak.data_available = false; imu_scale_mag(&imu); AbiSendMsgIMU_MAG_INT32(IMU_BOARD_ID, now_ts, &imu.mag); } diff --git a/sw/airborne/boards/ardrone/actuators.c b/sw/airborne/boards/ardrone/actuators.c index 3ce4531815..98e6bcd0ee 100644 --- a/sw/airborne/boards/ardrone/actuators.c +++ b/sw/airborne/boards/ardrone/actuators.c @@ -169,10 +169,10 @@ int actuators_ardrone_cmd(uint8_t cmd, uint8_t *reply, int replylen) void actuators_ardrone_motor_status(void); void actuators_ardrone_motor_status(void) { - static bool_t last_motor_on = FALSE; + static bool last_motor_on = false; // Reset Flipflop sequence - static bool_t reset_flipflop_counter = 0; + static bool reset_flipflop_counter = 0; if (reset_flipflop_counter > 0) { reset_flipflop_counter--; diff --git a/sw/airborne/boards/ardrone/baro_board.c b/sw/airborne/boards/ardrone/baro_board.c index 876e3a33bb..208c6f4404 100644 --- a/sw/airborne/boards/ardrone/baro_board.c +++ b/sw/airborne/boards/ardrone/baro_board.c @@ -103,6 +103,6 @@ void ardrone_baro_event(void) float pressure = (float)press_pascal; AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure); } - navdata.baro_available = FALSE; + navdata.baro_available = false; } } diff --git a/sw/airborne/boards/ardrone/navdata.c b/sw/airborne/boards/ardrone/navdata.c index ec816bad16..0f6eeadee2 100644 --- a/sw/airborne/boards/ardrone/navdata.c +++ b/sw/airborne/boards/ardrone/navdata.c @@ -51,7 +51,7 @@ /* Internal used functions */ static void *navdata_read(void *data __attribute__((unused))); static void navdata_cmd_send(uint8_t cmd); -static bool_t navdata_baro_calib(void); +static bool navdata_baro_calib(void); static void mag_freeze_check(void); static void baro_update_logic(void); @@ -61,7 +61,7 @@ struct navdata_t navdata; /** Buffer filled in the thread (maximum one navdata packet) */ static uint8_t navdata_buffer[NAVDATA_PACKET_SIZE]; /** flag to indicate new packet is available in buffer */ -static bool_t navdata_available = FALSE; +static bool navdata_available = false; /* syncronization variables */ static pthread_mutex_t navdata_mutex = PTHREAD_MUTEX_INITIALIZER; @@ -168,7 +168,7 @@ static void send_navdata(struct transport_tx *trans, struct link_device *dev) /** * Initialize the navdata board */ -bool_t navdata_init() +bool navdata_init() { assert(sizeof(struct navdata_measure_t) == NAVDATA_PACKET_SIZE); @@ -178,7 +178,7 @@ bool_t navdata_init() if (navdata.fd < 0) { printf("[navdata] Unable to open navdata board connection(/dev/ttyO1)\n"); - return FALSE; + return false; } /* Update the settings of the UART connection */ @@ -201,10 +201,10 @@ bool_t navdata_init() } // Reset available flags - navdata_available = FALSE; - navdata.baro_calibrated = FALSE; - navdata.baro_available = FALSE; - navdata.imu_lost = FALSE; + navdata_available = false; + navdata.baro_calibrated = false; + navdata.baro_available = false; + navdata.imu_lost = false; // Set all statistics to 0 navdata.checksum_errors = 0; @@ -219,9 +219,9 @@ bool_t navdata_init() /* Read the baro calibration(blocking) */ if (!navdata_baro_calib()) { printf("[navdata] Could not acquire baro calibration!\n"); - return FALSE; + return false; } - navdata.baro_calibrated = TRUE; + navdata.baro_calibrated = true; /* Start acquisition */ navdata_cmd_send(NAVDATA_CMD_START); @@ -234,7 +234,7 @@ bool_t navdata_init() pthread_t navdata_thread; if (pthread_create(&navdata_thread, NULL, navdata_read, NULL) != 0) { printf("[navdata] Could not create navdata reading thread!\n"); - return FALSE; + return false; } #if PERIODIC_TELEMETRY @@ -242,8 +242,8 @@ bool_t navdata_init() #endif /* Set to initialized */ - navdata.is_initialized = TRUE; - return TRUE; + navdata.is_initialized = true; + return true; } @@ -313,7 +313,7 @@ static void *navdata_read(void *data __attribute__((unused))) /* Set flag that we have new valid navdata */ pthread_mutex_lock(&navdata_mutex); - navdata_available = TRUE; + navdata_available = true; pthread_mutex_unlock(&navdata_mutex); } } @@ -356,7 +356,7 @@ void navdata_update() memcpy(&navdata.measure, navdata_buffer, NAVDATA_PACKET_SIZE); /* reset the flag */ - navdata_available = FALSE; + navdata_available = false; /* signal that we copied the buffer and new packet can be read */ pthread_cond_signal(&navdata_cond); pthread_mutex_unlock(&navdata_mutex); @@ -413,7 +413,7 @@ static void navdata_cmd_send(uint8_t cmd) /** * Try to receive the baro calibration from the navdata board */ -static bool_t navdata_baro_calib(void) +static bool navdata_baro_calib(void) { /* Start baro calibration acquisition */ navdata_cmd_send(NAVDATA_CMD_BARO_CALIB); @@ -422,7 +422,7 @@ static bool_t navdata_baro_calib(void) uint8_t calibBuffer[22]; if (full_read(navdata.fd, calibBuffer, sizeof calibBuffer) < 0) { printf("[navdata] Could not read calibration data."); - return FALSE; + return false; } /* Convert the read bytes */ @@ -438,7 +438,7 @@ static bool_t navdata_baro_calib(void) navdata.bmp180_calib.mc = calibBuffer[18] << 8 | calibBuffer[19]; navdata.bmp180_calib.md = calibBuffer[20] << 8 | calibBuffer[21]; - return TRUE; + return true; } /** @@ -459,7 +459,7 @@ static void mag_freeze_check(void) fprintf(stderr, "mag freeze detected, resetting!\n"); /* set imu_lost flag */ - navdata.imu_lost = TRUE; + navdata.imu_lost = true; navdata.lost_imu_frames++; /* Stop acquisition */ @@ -478,7 +478,7 @@ static void mag_freeze_check(void) MagFreezeCounter = 0; /* reset counter back to zero */ } } else { - navdata.imu_lost = FALSE; + navdata.imu_lost = false; /* Reset counter if value _does_ change */ MagFreezeCounter = 0; } @@ -505,34 +505,34 @@ static void baro_update_logic(void) if (temp_or_press_was_updated_last == 0) { /* Last update was press so we are now waiting for temp */ /* temp was updated */ - temp_or_press_was_updated_last = TRUE; + temp_or_press_was_updated_last = true; /* This means that press must remain constant */ if (lastpressval != 0) { /* If pressure was updated: this is a sync error */ if (lastpressval != navdata.measure.pressure) { /* wait for temp again */ - temp_or_press_was_updated_last = FALSE; + temp_or_press_was_updated_last = false; sync_errors++; //printf("Baro-Logic-Error (expected updated temp, got press)\n"); } } } else { /* press was updated */ - temp_or_press_was_updated_last = FALSE; + temp_or_press_was_updated_last = false; /* This means that temp must remain constant */ if (lasttempval != 0) { /* If temp was updated: this is a sync error */ if (lasttempval != navdata.measure.temperature_pressure) { /* wait for press again */ - temp_or_press_was_updated_last = TRUE; + temp_or_press_was_updated_last = true; sync_errors++; //printf("Baro-Logic-Error (expected updated press, got temp)\n"); } else { /* We now got valid pressure and temperature */ - navdata.baro_available = TRUE; + navdata.baro_available = true; } } } @@ -540,13 +540,13 @@ static void baro_update_logic(void) /* Detected a pressure swap */ if (lastpressval != 0 && lasttempval != 0 && ABS(lastpressval - navdata.measure.pressure) > ABS(lasttempval - navdata.measure.pressure)) { - navdata.baro_available = FALSE; + navdata.baro_available = false; } /* Detected a temprature swap */ if (lastpressval != 0 && lasttempval != 0 && ABS(lasttempval - navdata.measure.temperature_pressure) > ABS(lastpressval - navdata.measure.temperature_pressure)) { - navdata.baro_available = FALSE; + navdata.baro_available = false; } lasttempval = navdata.measure.temperature_pressure; @@ -600,7 +600,7 @@ static void baro_update_logic(void) if (spike_detected > 0) { /* disable kalman filter use */ - navdata.baro_available = FALSE; + navdata.baro_available = false; // override both to last good navdata.measure.pressure = lastpressval_nospike; diff --git a/sw/airborne/boards/ardrone/navdata.h b/sw/airborne/boards/ardrone/navdata.h index 6df78b6a2b..256ab7b20b 100644 --- a/sw/airborne/boards/ardrone/navdata.h +++ b/sw/airborne/boards/ardrone/navdata.h @@ -112,7 +112,7 @@ struct bmp180_calib_t { /* Main navdata structure */ struct navdata_t { - bool_t is_initialized; ///< Check if the navdata board is initialized + bool is_initialized; ///< Check if the navdata board is initialized int fd; ///< The navdata file pointer uint32_t totalBytesRead; @@ -124,14 +124,14 @@ struct navdata_t { struct navdata_measure_t measure; ///< Main navdata packet receieved from navboard struct bmp180_calib_t bmp180_calib; ///< BMP180 calibration receieved from navboard - bool_t baro_calibrated; ///< Whenever the baro is calibrated - bool_t baro_available; ///< Whenever the baro is available - bool_t imu_lost; ///< Whenever the imu is lost + bool baro_calibrated; ///< Whenever the baro is calibrated + bool baro_available; ///< Whenever the baro is available + bool imu_lost; ///< Whenever the imu is lost }; extern struct navdata_t navdata; -bool_t navdata_init(void); +bool navdata_init(void); void navdata_update(void); int16_t navdata_height(void); diff --git a/sw/airborne/boards/baro_board_ms5611_i2c.c b/sw/airborne/boards/baro_board_ms5611_i2c.c index b7d2225483..df62004f81 100644 --- a/sw/airborne/boards/baro_board_ms5611_i2c.c +++ b/sw/airborne/boards/baro_board_ms5611_i2c.c @@ -106,7 +106,7 @@ void baro_event(void) AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure); float temp = bb_ms5611.data.temperature / 100.0f; AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, temp); - bb_ms5611.data_available = FALSE; + bb_ms5611.data_available = false; #ifdef BARO_LED RunOnceEvery(10, LED_TOGGLE(BARO_LED)); diff --git a/sw/airborne/boards/baro_board_ms5611_spi.c b/sw/airborne/boards/baro_board_ms5611_spi.c index c0486c8946..a28eb8aa40 100644 --- a/sw/airborne/boards/baro_board_ms5611_spi.c +++ b/sw/airborne/boards/baro_board_ms5611_spi.c @@ -94,7 +94,7 @@ void baro_event(void) AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure); float temp = bb_ms5611.data.temperature / 100.0f; AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, temp); - bb_ms5611.data_available = FALSE; + bb_ms5611.data_available = false; #ifdef BARO_LED RunOnceEvery(10, LED_TOGGLE(BARO_LED)); diff --git a/sw/airborne/boards/bebop/board.c b/sw/airborne/boards/bebop/board.c index 432a53ed2c..cd5213e337 100644 --- a/sw/airborne/boards/bebop/board.c +++ b/sw/airborne/boards/bebop/board.c @@ -26,13 +26,65 @@ */ #include +#include +#include +#include #include "video.h" #include "mcu.h" +int KillGracefully(char *process_name); + +int KillGracefully(char *process_name) + { + /* "pidof" always in /bin on Bebop firmware tested 1.98, 2.0.57, no need for "which" */ + char pidof_commandline[200] = "/bin/pidof "; + strcat(pidof_commandline, process_name); + /* Bebop Busybox a + $ cat /proc/sys/kernel/pid_max + Gives max 32768, makes sure it never kills existing other process + */ + char pid[7] = ""; + int ret = 0; /* Return code of kill system call */ + FILE *fp; + + while (ret == 0) { + fp = popen(pidof_commandline, "r"); + if (fp != NULL) { /* Could open the pidof with line */ + if (fgets(pid, sizeof(pid) - 1, fp) != NULL) { + //printf("Process ID deducted: \"%s\"\n", pid); + if (atoi(pid) > 0) { /* To make sure we end 0 > There is a real process id found */ + char kill_command_and_process[200] = "kill -9 "; /* BTW there is no pkill on this Busybox */ + strcat(kill_command_and_process, pid); + ret = system(kill_command_and_process); + /* No need to wait, since if it is not closed the next pidof scan still will still find it and try to kill it */ + } + } else { + ret = 256; /* Could not get handle */ + pclose(fp); + } + } else { + ret = 256; /* fp NULL, so no process, just return */ + return 0; + } + } /* end while */ + return 0; +} void board_init(void) { - // First we try to kill the dragon-prog and its respawner if it is running - int ret __attribute__((unused)) = system("killall -q -9 watchdog.sh; killall -q -9 dragon-prog"); + /* + * Process running by default for firmware >= v1.98 + * + * - /bin/sh - /usr/bin/DragonStarter.sh -out2null + * - //usr/bin/dragon-prog + * + * Thus two process to kill, the DragonStarter first + * This to make sure OEM program does not get re-started + * + */ + int ret __attribute__((unused)) = system("killall -q -15 DragonStarter.sh"); + usleep(50000); /* Give DragonStarter 50ms time to end on a busy system */ + KillGracefully("dragon-prog"); + (void) ret; // We also try to initialize the video CMOS chips here (Bottom and front) mt9v117_init(); diff --git a/sw/airborne/boards/bebop/video.c b/sw/airborne/boards/bebop/video.c index 7940705445..04d8f19f15 100644 --- a/sw/airborne/boards/bebop/video.c +++ b/sw/airborne/boards/bebop/video.c @@ -59,18 +59,18 @@ struct video_config_t front_camera = { .filters = VIDEO_FILTER_DEBAYER }; -static bool_t write_reg(int fd, char *addr_val, uint8_t cnt) +static bool write_reg(int fd, char *addr_val, uint8_t cnt) { char resp[cnt - 2]; uint8_t i; if (write(fd, addr_val, cnt) != cnt) { printf("Write failed!\n"); - return FALSE; + return false; } if (write(fd, addr_val, 2) != 2) { printf("Write2 failed!\n"); - return FALSE; + return false; } while (read(fd, resp, cnt - 2) != cnt - 2) { ; } for (i = 0; i < cnt - 2; i++) { @@ -79,15 +79,15 @@ static bool_t write_reg(int fd, char *addr_val, uint8_t cnt) return write_reg(fd, addr_val, cnt); } } - return TRUE; + return true; } -static bool_t _write(int fd, char *data, uint8_t cnt) +static bool _write(int fd, char *data, uint8_t cnt) { if (write(fd, data, cnt) != cnt) { printf("Failed!\n"); } - return TRUE; + return true; } #pragma GCC diagnostic push diff --git a/sw/airborne/boards/hbmini/baro_board.c b/sw/airborne/boards/hbmini/baro_board.c index 8ab4c42be8..b959dc099d 100644 --- a/sw/airborne/boards/hbmini/baro_board.c +++ b/sw/airborne/boards/hbmini/baro_board.c @@ -58,7 +58,7 @@ void bmp_baro_event(void) if (baro_bmp085.data_available) { float pressure = (float)baro_bmp085.pressure; AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure); - baro_bmp085.data_available = FALSE; + baro_bmp085.data_available = false; #ifdef BARO_LED RunOnceEvery(10, LED_TOGGLE(BARO_LED)); #endif diff --git a/sw/airborne/boards/hbmini/imu_hbmini.c b/sw/airborne/boards/hbmini/imu_hbmini.c index e2886d29d8..5bab935a47 100644 --- a/sw/airborne/boards/hbmini/imu_hbmini.c +++ b/sw/airborne/boards/hbmini/imu_hbmini.c @@ -117,7 +117,7 @@ void imu_hbmini_event(void) imu.mag_unscaled.y = imu_hbmini.hmc.data.value[IMU_MAG_Y_CHAN]; imu.mag_unscaled.x = imu_hbmini.hmc.data.value[IMU_MAG_Z_CHAN]; - imu_hbmini.hmc.data_available = FALSE; + imu_hbmini.hmc.data_available = false; imu_scale_mag(&imu); AbiSendMsgIMU_MAG_INT32(IMU_BOARD_ID, now_ts, &imu.mag); } diff --git a/sw/airborne/boards/krooz/imu_krooz.c b/sw/airborne/boards/krooz/imu_krooz.c index ff4a49f48e..6cf66c3465 100644 --- a/sw/airborne/boards/krooz/imu_krooz.c +++ b/sw/airborne/boards/krooz/imu_krooz.c @@ -75,7 +75,7 @@ void imu_impl_init(void) imu_krooz.mpu.config.dlpf_cfg = KROOZ_LOWPASS_FILTER; imu_krooz.mpu.config.gyro_range = KROOZ_GYRO_RANGE; imu_krooz.mpu.config.accel_range = KROOZ_ACCEL_RANGE; - imu_krooz.mpu.config.drdy_int_enable = TRUE; + imu_krooz.mpu.config.drdy_int_enable = true; hmc58xx_init(&imu_krooz.hmc, &(IMU_KROOZ_I2C_DEV), HMC58XX_ADDR); @@ -89,8 +89,8 @@ void imu_impl_init(void) VECT3_ASSIGN(imu_krooz.accel_sum, 0, 0, 0); imu_krooz.meas_nb = 0; - imu_krooz.hmc_eoc = FALSE; - imu_krooz.mpu_eoc = FALSE; + imu_krooz.hmc_eoc = false; + imu_krooz.mpu_eoc = false; imu_krooz_sd_arch_init(); } @@ -147,7 +147,7 @@ void imu_krooz_event(void) { if (imu_krooz.mpu_eoc) { mpu60x0_i2c_read(&imu_krooz.mpu); - imu_krooz.mpu_eoc = FALSE; + imu_krooz.mpu_eoc = false; } // If the MPU6050 I2C transaction has succeeded: convert the data @@ -156,12 +156,12 @@ void imu_krooz_event(void) RATES_ADD(imu_krooz.rates_sum, imu_krooz.mpu.data_rates.rates); VECT3_ADD(imu_krooz.accel_sum, imu_krooz.mpu.data_accel.vect); imu_krooz.meas_nb++; - imu_krooz.mpu.data_available = FALSE; + imu_krooz.mpu.data_available = false; } if (imu_krooz.hmc_eoc) { hmc58xx_read(&imu_krooz.hmc); - imu_krooz.hmc_eoc = FALSE; + imu_krooz.hmc_eoc = false; } // If the HMC5883 I2C transaction has succeeded: convert the data @@ -169,7 +169,7 @@ void imu_krooz_event(void) if (imu_krooz.hmc.data_available) { VECT3_ASSIGN(imu.mag_unscaled, imu_krooz.hmc.data.vect.y, -imu_krooz.hmc.data.vect.x, imu_krooz.hmc.data.vect.z); UpdateMedianFilterVect3Int(median_mag, imu.mag_unscaled); - imu_krooz.hmc.data_available = FALSE; + imu_krooz.hmc.data_available = false; imu_scale_mag(&imu); AbiSendMsgIMU_MAG_INT32(IMU_BOARD_ID, get_sys_time_usec(), &imu.mag); } diff --git a/sw/airborne/boards/krooz/imu_krooz.h b/sw/airborne/boards/krooz/imu_krooz.h index 88136fb680..ef06085db9 100644 --- a/sw/airborne/boards/krooz/imu_krooz.h +++ b/sw/airborne/boards/krooz/imu_krooz.h @@ -105,8 +105,8 @@ #endif struct ImuKrooz { - volatile bool_t mpu_eoc; - volatile bool_t hmc_eoc; + volatile bool mpu_eoc; + volatile bool hmc_eoc; struct Mpu60x0_I2c mpu; struct Hmc58xx hmc; struct Int32Rates rates_sum; diff --git a/sw/airborne/boards/krooz/imu_krooz_memsic.c b/sw/airborne/boards/krooz/imu_krooz_memsic.c index 40c6f898a8..d143e28b99 100644 --- a/sw/airborne/boards/krooz/imu_krooz_memsic.c +++ b/sw/airborne/boards/krooz/imu_krooz_memsic.c @@ -76,7 +76,7 @@ void imu_impl_init(void) imu_krooz.mpu.config.dlpf_cfg = KROOZ_LOWPASS_FILTER; imu_krooz.mpu.config.gyro_range = KROOZ_GYRO_RANGE; imu_krooz.mpu.config.accel_range = KROOZ_ACCEL_RANGE; - imu_krooz.mpu.config.drdy_int_enable = TRUE; + imu_krooz.mpu.config.drdy_int_enable = true; hmc58xx_init(&imu_krooz.hmc, &(IMU_KROOZ_I2C_DEV), HMC58XX_ADDR); @@ -90,8 +90,8 @@ void imu_impl_init(void) VECT3_ASSIGN(imu_krooz.accel_sum, 0, 0, 0); imu_krooz.meas_nb = 0; - imu_krooz.hmc_eoc = FALSE; - imu_krooz.mpu_eoc = FALSE; + imu_krooz.hmc_eoc = false; + imu_krooz.mpu_eoc = false; imu_krooz.ad7689_trans.slave_idx = IMU_KROOZ_SPI_SLAVE_IDX; imu_krooz.ad7689_trans.select = SPISelectUnselect; @@ -162,7 +162,7 @@ void imu_krooz_event(void) { if (imu_krooz.mpu_eoc) { mpu60x0_i2c_read(&imu_krooz.mpu); - imu_krooz.mpu_eoc = FALSE; + imu_krooz.mpu_eoc = false; } // If the MPU6050 I2C transaction has succeeded: convert the data @@ -170,7 +170,7 @@ void imu_krooz_event(void) if (imu_krooz.mpu.data_available) { RATES_ADD(imu_krooz.rates_sum, imu_krooz.mpu.data_rates.rates); imu_krooz.meas_nb++; - imu_krooz.mpu.data_available = FALSE; + imu_krooz.mpu.data_available = false; } if (SysTimeTimer(ad7689_event_timer) > 215) { @@ -216,7 +216,7 @@ void imu_krooz_event(void) if (imu_krooz.hmc_eoc) { hmc58xx_read(&imu_krooz.hmc); - imu_krooz.hmc_eoc = FALSE; + imu_krooz.hmc_eoc = false; } // If the HMC5883 I2C transaction has succeeded: convert the data @@ -224,7 +224,7 @@ void imu_krooz_event(void) if (imu_krooz.hmc.data_available) { VECT3_ASSIGN(imu.mag_unscaled, imu_krooz.hmc.data.vect.y, -imu_krooz.hmc.data.vect.x, imu_krooz.hmc.data.vect.z); UpdateMedianFilterVect3Int(median_mag, imu.mag_unscaled); - imu_krooz.hmc.data_available = FALSE; + imu_krooz.hmc.data_available = false; imu_scale_mag(&imu); AbiSendMsgIMU_MAG_INT32(IMU_BOARD_ID, get_sys_time_usec(), &imu.mag); } diff --git a/sw/airborne/boards/krooz/imu_krooz_memsic.h b/sw/airborne/boards/krooz/imu_krooz_memsic.h index fc110b874d..f384639de7 100644 --- a/sw/airborne/boards/krooz/imu_krooz_memsic.h +++ b/sw/airborne/boards/krooz/imu_krooz_memsic.h @@ -108,8 +108,8 @@ #endif struct ImuKrooz { - volatile bool_t mpu_eoc; - volatile bool_t hmc_eoc; + volatile bool mpu_eoc; + volatile bool hmc_eoc; struct Mpu60x0_I2c mpu; struct spi_transaction ad7689_trans; volatile uint8_t ad7689_spi_tx_buffer[2]; diff --git a/sw/airborne/boards/lisa_l/baro_board.c b/sw/airborne/boards/lisa_l/baro_board.c index 0722d18512..2c44511285 100644 --- a/sw/airborne/boards/lisa_l/baro_board.c +++ b/sw/airborne/boards/lisa_l/baro_board.c @@ -42,7 +42,7 @@ enum LisaBaroStatus { struct BaroBoard { enum LisaBaroStatus status; - bool_t running; + bool running; }; @@ -77,7 +77,7 @@ void baro_init(void) LED_OFF(BARO_LED); #endif baro_board.status = LBS_UNINITIALIZED; - baro_board.running = FALSE; + baro_board.running = false; } @@ -109,7 +109,7 @@ void baro_periodic(void) // baro_board.status = LBS_UNINITIALIZED; break; case LBS_INITIALIZING_DIFF_1: - baro_board.running = TRUE; + baro_board.running = true; case LBS_READ_DIFF: baro_board_read_from_current_register(BARO_ABS_ADDR); baro_board.status = LBS_READING_ABS; diff --git a/sw/airborne/boards/lisa_m/baro_board.c b/sw/airborne/boards/lisa_m/baro_board.c index 43b272e484..daf96d61df 100644 --- a/sw/airborne/boards/lisa_m/baro_board.c +++ b/sw/airborne/boards/lisa_m/baro_board.c @@ -36,7 +36,7 @@ struct Bmp085 baro_bmp085; -static bool_t baro_eoc(void) +static bool baro_eoc(void) { return gpio_get(GPIOB, GPIO0); } @@ -78,7 +78,7 @@ void baro_event(void) AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure); float temp = baro_bmp085.temperature / 10.0f; AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, temp); - baro_bmp085.data_available = FALSE; + baro_bmp085.data_available = false; #ifdef BARO_LED RunOnceEvery(10, LED_TOGGLE(BARO_LED)); #endif diff --git a/sw/airborne/boards/lisa_mx/baro_board.c b/sw/airborne/boards/lisa_mx/baro_board.c index 244a689502..6bcfc273e0 100644 --- a/sw/airborne/boards/lisa_mx/baro_board.c +++ b/sw/airborne/boards/lisa_mx/baro_board.c @@ -36,7 +36,7 @@ struct Bmp085 baro_bmp085; -static bool_t baro_eoc(void) +static bool baro_eoc(void) { return gpio_get(GPIOB, GPIO0); } @@ -77,7 +77,7 @@ void baro_event(void) AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure); float temp = baro_bmp085.temperature / 10.0f; AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, temp); - baro_bmp085.data_available = FALSE; + baro_bmp085.data_available = false; #ifdef BARO_LED RunOnceEvery(10, LED_TOGGLE(BARO_LED)); #endif diff --git a/sw/airborne/boards/navgo/baro_board.c b/sw/airborne/boards/navgo/baro_board.c index a9ff7e5290..8ee32b366e 100644 --- a/sw/airborne/boards/navgo/baro_board.c +++ b/sw/airborne/boards/navgo/baro_board.c @@ -88,6 +88,6 @@ void navgo_baro_event(void) float pressure = NAVGO_BARO_SENS * (mcp355x_data + NAVGO_BARO_OFFSET); AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure); } - mcp355x_data_available = FALSE; + mcp355x_data_available = false; } } diff --git a/sw/airborne/boards/navgo/imu_navgo.c b/sw/airborne/boards/navgo/imu_navgo.c index c516703b0f..4fff970763 100644 --- a/sw/airborne/boards/navgo/imu_navgo.c +++ b/sw/airborne/boards/navgo/imu_navgo.c @@ -128,7 +128,7 @@ void imu_navgo_event(void) #if NAVGO_USE_MEDIAN_FILTER UpdateMedianFilterRatesInt(median_gyro, imu.gyro_unscaled); #endif - imu_navgo.itg.data_available = FALSE; + imu_navgo.itg.data_available = false; imu_scale_gyro(&imu); AbiSendMsgIMU_GYRO_INT32(IMU_BOARD_ID, now_ts, &imu.gyro); } @@ -140,7 +140,7 @@ void imu_navgo_event(void) #if NAVGO_USE_MEDIAN_FILTER UpdateMedianFilterVect3Int(median_accel, imu.accel_unscaled); #endif - imu_navgo.adxl.data_available = FALSE; + imu_navgo.adxl.data_available = false; imu_scale_accel(&imu); AbiSendMsgIMU_ACCEL_INT32(IMU_BOARD_ID, now_ts, &imu.accel); } @@ -152,7 +152,7 @@ void imu_navgo_event(void) #if NAVGO_USE_MEDIAN_FILTER UpdateMedianFilterVect3Int(median_mag, imu.mag_unscaled); #endif - imu_navgo.hmc.data_available = FALSE; + imu_navgo.hmc.data_available = false; imu_scale_mag(&imu); AbiSendMsgIMU_MAG_INT32(IMU_BOARD_ID, now_ts, &imu.mag); } diff --git a/sw/airborne/boards/navstik/baro_board.c b/sw/airborne/boards/navstik/baro_board.c index 3dd191e13f..2c74862e82 100644 --- a/sw/airborne/boards/navstik/baro_board.c +++ b/sw/airborne/boards/navstik/baro_board.c @@ -63,7 +63,7 @@ void baro_event(void) AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure); float temp = baro_bmp085.temperature / 10.0f; AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, temp); - baro_bmp085.data_available = FALSE; + baro_bmp085.data_available = false; #ifdef BARO_LED RunOnceEvery(10, LED_TOGGLE(BARO_LED)); #endif diff --git a/sw/airborne/boards/umarim/baro_board.c b/sw/airborne/boards/umarim/baro_board.c index 613f52ed37..d865b40da8 100644 --- a/sw/airborne/boards/umarim/baro_board.c +++ b/sw/airborne/boards/umarim/baro_board.c @@ -80,7 +80,7 @@ void umarim_baro_event(void) float pressure = UMARIM_BARO_SENS * Ads1114GetValue(BARO_ABS_ADS); AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, pressure); } - BARO_ABS_ADS.data_available = FALSE; + BARO_ABS_ADS.data_available = false; } } diff --git a/sw/airborne/boards/umarim/imu_umarim.c b/sw/airborne/boards/umarim/imu_umarim.c index 5006a02d7b..8876b17a5e 100644 --- a/sw/airborne/boards/umarim/imu_umarim.c +++ b/sw/airborne/boards/umarim/imu_umarim.c @@ -108,7 +108,7 @@ void imu_umarim_event(void) itg3200_event(&imu_umarim.itg); if (imu_umarim.itg.data_available) { RATES_COPY(imu.gyro_unscaled, imu_umarim.itg.data.rates); - imu_umarim.itg.data_available = FALSE; + imu_umarim.itg.data_available = false; imu_scale_gyro(&imu); AbiSendMsgIMU_GYRO_INT32(IMU_BOARD_ID, now_ts, &imu.gyro); } @@ -118,7 +118,7 @@ void imu_umarim_event(void) if (imu_umarim.adxl.data_available) { VECT3_ASSIGN(imu.accel_unscaled, imu_umarim.adxl.data.vect.y, -imu_umarim.adxl.data.vect.x, imu_umarim.adxl.data.vect.z); - imu_umarim.adxl.data_available = FALSE; + imu_umarim.adxl.data_available = false; imu_scale_accel(&imu); AbiSendMsgIMU_ACCEL_INT32(IMU_BOARD_ID, now_ts, &imu.accel); } diff --git a/sw/airborne/boards/umarim/imu_umarim.h b/sw/airborne/boards/umarim/imu_umarim.h index d3155d2ccf..13edc9a149 100644 --- a/sw/airborne/boards/umarim/imu_umarim.h +++ b/sw/airborne/boards/umarim/imu_umarim.h @@ -102,8 +102,8 @@ #define IMU_ACCEL_Z_NEUTRAL 0 #endif -extern volatile bool_t gyr_valid; -extern volatile bool_t acc_valid; +extern volatile bool gyr_valid; +extern volatile bool acc_valid; struct ImuUmarim { struct Itg3200 itg; diff --git a/sw/airborne/firmwares/fixedwing/autopilot.c b/sw/airborne/firmwares/fixedwing/autopilot.c index 2994f4678c..e499c99b81 100644 --- a/sw/airborne/firmwares/fixedwing/autopilot.c +++ b/sw/airborne/firmwares/fixedwing/autopilot.c @@ -39,10 +39,10 @@ #include "pprz_version.h" uint8_t pprz_mode; -bool_t kill_throttle; +bool kill_throttle; uint8_t mcu1_status; -bool_t launch; +bool launch; /** flight time in seconds. */ uint16_t autopilot_flight_time; @@ -53,9 +53,9 @@ uint16_t vsupply; int32_t current; float energy; -bool_t gps_lost; +bool gps_lost; -bool_t power_switch; +bool power_switch; #if PERIODIC_TELEMETRY #include "subsystems/datalink/telemetry.h" @@ -175,15 +175,15 @@ void autopilot_send_mode(void) void autopilot_init(void) { pprz_mode = PPRZ_MODE_AUTO2; - kill_throttle = FALSE; - launch = FALSE; + kill_throttle = false; + launch = false; autopilot_flight_time = 0; lateral_mode = LATERAL_MODE_MANUAL; - gps_lost = FALSE; + gps_lost = false; - power_switch = FALSE; + power_switch = false; #ifdef POWER_SWITCH_GPIO gpio_setup_output(POWER_SWITCH_GPIO); gpio_clear(POWER_SWITCH_GPIO); diff --git a/sw/airborne/firmwares/fixedwing/autopilot.h b/sw/airborne/firmwares/fixedwing/autopilot.h index bc823b8cd6..2a7aa3d2eb 100644 --- a/sw/airborne/firmwares/fixedwing/autopilot.h +++ b/sw/airborne/firmwares/fixedwing/autopilot.h @@ -59,14 +59,14 @@ extern void autopilot_init(void); (pprz > THRESHOLD1 ? PPRZ_MODE_AUTO1 : PPRZ_MODE_MANUAL)) extern uint8_t pprz_mode; -extern bool_t kill_throttle; +extern bool kill_throttle; extern uint8_t mcu1_status; /** flight time in seconds. */ extern uint16_t autopilot_flight_time; #define autopilot_ResetFlightTimeAndLaunch(_) { \ - autopilot_flight_time = 0; launch = FALSE; \ + autopilot_flight_time = 0; launch = false; \ } @@ -98,9 +98,9 @@ extern int32_t current; // milliAmpere */ extern float energy; -extern bool_t launch; +extern bool launch; -extern bool_t gps_lost; +extern bool gps_lost; /** Assignment, returning _old_value != _value * Using GCC expression statements */ @@ -115,7 +115,7 @@ extern void autopilot_send_mode(void); /** Power switch control. */ -extern bool_t power_switch; +extern bool power_switch; #ifdef POWER_SWITCH_GPIO #include "mcu_periph/gpio.h" diff --git a/sw/airborne/firmwares/fixedwing/chibios-libopencm3/chibios_init.c b/sw/airborne/firmwares/fixedwing/chibios-libopencm3/chibios_init.c index a81759e64c..09b2de413f 100644 --- a/sw/airborne/firmwares/fixedwing/chibios-libopencm3/chibios_init.c +++ b/sw/airborne/firmwares/fixedwing/chibios-libopencm3/chibios_init.c @@ -56,14 +56,14 @@ Thread *pprzThdPtr = NULL; static WORKING_AREA(wa_thd_heartbeat, 2048); void chibios_launch_heartbeat (void); -bool_t sdOk = FALSE; +bool sdOk = false; /* * Init ChibiOS HAL and Sys */ -bool_t chibios_init(void) { +bool chibios_init(void) { halInit(); chSysInit(); diff --git a/sw/airborne/firmwares/fixedwing/chibios-libopencm3/chibios_init.h b/sw/airborne/firmwares/fixedwing/chibios-libopencm3/chibios_init.h index 7660a5360f..6b8aa79308 100644 --- a/sw/airborne/firmwares/fixedwing/chibios-libopencm3/chibios_init.h +++ b/sw/airborne/firmwares/fixedwing/chibios-libopencm3/chibios_init.h @@ -31,7 +31,7 @@ #include "std.h" extern Thread *pprzThdPtr; -extern bool_t chibios_init(void); +extern bool chibios_init(void); extern void launch_pprz_thd (int32_t (*thd) (void *arg)); #endif diff --git a/sw/airborne/firmwares/fixedwing/fixedwing_datalink.c b/sw/airborne/firmwares/fixedwing/fixedwing_datalink.c index faaa516f01..01748bcb74 100644 --- a/sw/airborne/firmwares/fixedwing/fixedwing_datalink.c +++ b/sw/airborne/firmwares/fixedwing/fixedwing_datalink.c @@ -136,7 +136,7 @@ void firmware_parse_msg(void) uint8_t l = DL_HITL_UBX_ubx_payload_length(dl_buffer); uint8_t *ubx_payload = DL_HITL_UBX_ubx_payload(dl_buffer); memcpy(ubx_msg_buf, ubx_payload, l); - gps_msg_received = TRUE; + gps_msg_received = true; } } break; diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c index ded4e50f93..5bbbb64369 100644 --- a/sw/airborne/firmwares/fixedwing/main_ap.c +++ b/sw/airborne/firmwares/fixedwing/main_ap.c @@ -347,13 +347,13 @@ static inline uint8_t pprz_mode_update(void) } #endif // RADIO_AUTO_MODE } else { - return FALSE; + return false; } } #else // not RADIO_CONTROL static inline uint8_t pprz_mode_update(void) { - return FALSE; + return false; } #endif @@ -361,11 +361,11 @@ static inline uint8_t mcu1_status_update(void) { uint8_t new_status = fbw_state->status; if (mcu1_status != new_status) { - bool_t changed = ((mcu1_status & MASK_FBW_CHANGED) != (new_status & MASK_FBW_CHANGED)); + bool changed = ((mcu1_status & MASK_FBW_CHANGED) != (new_status & MASK_FBW_CHANGED)); mcu1_status = new_status; return changed; } - return FALSE; + return false; } @@ -390,7 +390,7 @@ static inline void copy_from_to_fbw(void) */ static inline void telecommand_task(void) { - uint8_t mode_changed = FALSE; + uint8_t mode_changed = false; copy_from_to_fbw(); /* really_lost is true if we lost RC in MANUAL or AUTO1 */ @@ -400,18 +400,18 @@ static inline void telecommand_task(void) if (pprz_mode != PPRZ_MODE_HOME && pprz_mode != PPRZ_MODE_GPS_OUT_OF_ORDER && launch) { if (too_far_from_home) { pprz_mode = PPRZ_MODE_HOME; - mode_changed = TRUE; + mode_changed = true; } if (really_lost) { pprz_mode = RC_LOST_MODE; - mode_changed = TRUE; + mode_changed = true; } } if (bit_is_set(fbw_state->status, AVERAGED_CHANNELS_SENT)) { - bool_t pprz_mode_changed = pprz_mode_update(); + bool pprz_mode_changed = pprz_mode_update(); mode_changed |= pprz_mode_changed; #if defined RADIO_CALIB && defined RADIO_CONTROL_SETTINGS - bool_t calib_mode_changed = RcSettingsModeUpdate(fbw_state->channels); + bool calib_mode_changed = RcSettingsModeUpdate(fbw_state->channels); rc_settings(calib_mode_changed || pprz_mode_changed); mode_changed |= calib_mode_changed; #endif @@ -455,7 +455,7 @@ static inline void telecommand_task(void) #ifndef SITL if (!autopilot_flight_time) { if (pprz_mode == PPRZ_MODE_AUTO2 && fbw_state->channels[RADIO_THROTTLE] > THROTTLE_THRESHOLD_TAKEOFF) { - launch = TRUE; + launch = true; } } #endif @@ -471,14 +471,14 @@ static inline void telecommand_task(void) */ void reporting_task(void) { - static uint8_t boot = TRUE; + static uint8_t boot = true; /* initialisation phase during boot */ if (boot) { #if DOWNLINK send_autopilot_version(&(DefaultChannel).trans_tx, &(DefaultDevice).device); #endif - boot = FALSE; + boot = false; } /* then report periodicly */ else { @@ -511,12 +511,12 @@ void navigation_task(void) last_pprz_mode = pprz_mode; pprz_mode = PPRZ_MODE_GPS_OUT_OF_ORDER; autopilot_send_mode(); - gps_lost = TRUE; + gps_lost = true; } } else if (gps_lost) { /* GPS is ok */ /** If aircraft was in failsafe mode, come back in previous mode */ pprz_mode = last_pprz_mode; - gps_lost = FALSE; + gps_lost = false; autopilot_send_mode(); } } @@ -550,7 +550,7 @@ void navigation_task(void) || pprz_mode == PPRZ_MODE_GPS_OUT_OF_ORDER) { #ifdef H_CTL_RATE_LOOP /* Be sure to be in attitude mode, not roll */ - h_ctl_auto1_rate = FALSE; + h_ctl_auto1_rate = false; #endif if (lateral_mode >= LATERAL_MODE_COURSE) { h_ctl_course_loop(); /* aka compute nav_desired_roll */ @@ -607,7 +607,7 @@ void attitude_loop(void) link_mcu_send(); #elif defined INTER_MCU && defined SINGLE_MCU /**Directly set the flag indicating to FBW that shared buffer is available*/ - inter_mcu_received_ap = TRUE; + inter_mcu_received_ap = true; #endif } @@ -677,7 +677,7 @@ void monitor_task(void) if (!autopilot_flight_time && stateGetHorizontalSpeedNorm_f() > MIN_SPEED_FOR_TAKEOFF) { autopilot_flight_time = 1; - launch = TRUE; /* Not set in non auto launch */ + launch = true; /* Not set in non auto launch */ #if DOWNLINK uint16_t time_sec = sys_time.nb_sec; DOWNLINK_SEND_TAKEOFF(DefaultChannel, DefaultDevice, &time_sec); @@ -723,7 +723,7 @@ void event_task_ap(void) if (inter_mcu_received_fbw) { /* receive radio control task from fbw */ - inter_mcu_received_fbw = FALSE; + inter_mcu_received_fbw = false; telecommand_task(); } diff --git a/sw/airborne/firmwares/fixedwing/main_chibios_libopencm3.c b/sw/airborne/firmwares/fixedwing/main_chibios_libopencm3.c index 2452c6ccfa..01ee2fe249 100644 --- a/sw/airborne/firmwares/fixedwing/main_chibios_libopencm3.c +++ b/sw/airborne/firmwares/fixedwing/main_chibios_libopencm3.c @@ -47,8 +47,8 @@ static int32_t pprz_thd(void *arg); -static bool_t sdlogOk ; -bool_t pprzReady = FALSE; +static bool sdlogOk ; +bool pprzReady = false; int main(void) { @@ -65,7 +65,7 @@ int main(void) chibios_chThdSleepMilliseconds(100); launch_pprz_thd(&pprz_thd); - pprzReady = TRUE; + pprzReady = true; // Call PPRZ periodic and event functions while (TRUE) { chibios_chThdSleepMilliseconds(1000); diff --git a/sw/airborne/firmwares/fixedwing/main_fbw.c b/sw/airborne/firmwares/fixedwing/main_fbw.c index 95466f7102..781d7553c8 100644 --- a/sw/airborne/firmwares/fixedwing/main_fbw.c +++ b/sw/airborne/firmwares/fixedwing/main_fbw.c @@ -71,7 +71,7 @@ pprz_t command_yaw_trim; volatile uint8_t fbw_new_actuators = 0; -uint8_t ap_has_been_ok = FALSE; +uint8_t ap_has_been_ok = false; tid_t fbw_periodic_tid; ///< id for periodic_task_fbw() timer tid_t electrical_tid; ///< id for electrical_periodic() timer @@ -211,7 +211,7 @@ void post_inter_mcu_received_ap(void) {}; void pre_inter_mcu_received_ap(void) { if (ap_ok) { - ap_has_been_ok = TRUE; + ap_has_been_ok = true; } if ((ap_has_been_ok) && (!ap_ok)) { commands[COMMAND_FORCECRASH] = 9600; @@ -275,7 +275,7 @@ void inter_mcu_event_handle(void) pre_inter_mcu_received_ap(); if (inter_mcu_received_ap) { - inter_mcu_received_ap = FALSE; + inter_mcu_received_ap = false; inter_mcu_event_task(); command_roll_trim = ap_state->command_roll_trim; command_pitch_trim = ap_state->command_pitch_trim; @@ -303,7 +303,7 @@ void inter_mcu_event_handle(void) #ifdef MCU_SPI_LINK if (link_mcu_received) { - link_mcu_received = FALSE; + link_mcu_received = false; inter_mcu_fill_fbw_state(); /** Prepares the next message for AP */ link_mcu_restart(); /** Prepares the next SPI communication */ } diff --git a/sw/airborne/firmwares/fixedwing/main_fbw.h b/sw/airborne/firmwares/fixedwing/main_fbw.h index 67752e7d0d..b3b715d176 100644 --- a/sw/airborne/firmwares/fixedwing/main_fbw.h +++ b/sw/airborne/firmwares/fixedwing/main_fbw.h @@ -37,7 +37,7 @@ #define FBW_MODE_OF_PPRZ(mode) ((mode) < THRESHOLD_MANUAL_PPRZ ? FBW_MODE_MANUAL : FBW_MODE_AUTO) extern uint8_t fbw_mode; -extern bool_t failsafe_mode; +extern bool failsafe_mode; void init_fbw(void); void handle_periodic_tasks_fbw(void); diff --git a/sw/airborne/firmwares/fixedwing/nav.c b/sw/airborne/firmwares/fixedwing/nav.c index c48fea15b5..243240e740 100644 --- a/sw/airborne/firmwares/fixedwing/nav.c +++ b/sw/airborne/firmwares/fixedwing/nav.c @@ -65,8 +65,8 @@ static float nav_carrot_leg_progress; /** length of the current leg (m) */ static float nav_leg_length; -bool_t nav_in_circle = FALSE; -bool_t nav_in_segment = FALSE; +bool nav_in_circle = false; +bool nav_in_segment = false; float nav_circle_x, nav_circle_y, nav_circle_radius; float nav_segment_x_1, nav_segment_y_1, nav_segment_x_2, nav_segment_y_2; uint8_t horizontal_mode; @@ -87,7 +87,7 @@ float nav_ground_speed_setpoint, nav_ground_speed_pgain; /* Used in nav_survey_rectangle. Defined here for downlink and uplink */ float nav_survey_shift; float nav_survey_west, nav_survey_east, nav_survey_north, nav_survey_south; -bool_t nav_survey_active; +bool nav_survey_active; int nav_mode; @@ -98,8 +98,8 @@ void nav_init_stage(void) stage_time = 0; nav_circle_radians = 0; nav_circle_radians_no_rewind = 0; - nav_in_circle = FALSE; - nav_in_segment = FALSE; + nav_in_circle = false; + nav_in_segment = false; nav_shift = 0; } @@ -149,7 +149,7 @@ void nav_circle_XY(float x, float y, float radius) } fly_to_xy(x + cosf(alpha_carrot)*radius_carrot, y + sinf(alpha_carrot)*radius_carrot); - nav_in_circle = TRUE; + nav_in_circle = true; nav_circle_x = x; nav_circle_y = y; nav_circle_radius = radius; @@ -216,7 +216,7 @@ static void nav_ground_speed_loop(void) #endif float baseleg_out_qdr; -bool_t nav_compute_baseleg(uint8_t wp_af, uint8_t wp_td, uint8_t wp_baseleg, float radius) +bool nav_compute_baseleg(uint8_t wp_af, uint8_t wp_td, uint8_t wp_baseleg, float radius) { nav_radius = radius; @@ -236,10 +236,10 @@ bool_t nav_compute_baseleg(uint8_t wp_af, uint8_t wp_td, uint8_t wp_baseleg, flo baseleg_out_qdr += M_PI; } - return FALSE; + return false; } -bool_t nav_compute_final_from_glide(uint8_t wp_af, uint8_t wp_td, float glide) +bool nav_compute_final_from_glide(uint8_t wp_af, uint8_t wp_td, float glide) { float x_0 = waypoints[wp_td].x - waypoints[wp_af].x; @@ -255,14 +255,14 @@ bool_t nav_compute_final_from_glide(uint8_t wp_af, uint8_t wp_td, float glide) waypoints[wp_af].y = waypoints[wp_td].y + y_1 * h_0 * glide; waypoints[wp_af].a = waypoints[wp_af].a; - return FALSE; + return false; } /* For a landing UPWIND. Computes Top Of Descent waypoint from Touch Down and Approach Fix waypoints, using glide airspeed, glide vertical speed and wind */ -static inline bool_t compute_TOD(uint8_t _af, uint8_t _td, uint8_t _tod, float glide_airspeed, float glide_vspeed) +static inline bool compute_TOD(uint8_t _af, uint8_t _td, uint8_t _tod, float glide_airspeed, float glide_vspeed) { struct FloatVect2 *wind = stateGetHorizontalWindspeed_f(); float td_af_x = WaypointX(_af) - WaypointX(_td); @@ -273,7 +273,7 @@ static inline bool_t compute_TOD(uint8_t _af, uint8_t _td, uint8_t _tod, float g WaypointX(_tod) = WaypointX(_td) + td_af_x / td_af * td_tod; WaypointY(_tod) = WaypointY(_td) + td_af_y / td_af * td_tod; WaypointAlt(_tod) = WaypointAlt(_af); - return FALSE; + return false; } @@ -321,7 +321,7 @@ float fp_climb; /* m/s */ * * @return true if the position (x, y) is reached */ -bool_t nav_approaching_xy(float x, float y, float from_x, float from_y, float approaching_time) +bool nav_approaching_xy(float x, float y, float from_x, float from_y, float approaching_time) { /** distance to waypoint in x */ float pw_x = x - stateGetPositionEnu_f()->x; @@ -341,7 +341,7 @@ bool_t nav_approaching_xy(float x, float y, float from_x, float from_y, float ap dist2_to_wp = pw_x * pw_x + pw_y * pw_y; float min_dist = approaching_time * stateGetHorizontalSpeedNorm_f(); if (dist2_to_wp < min_dist * min_dist) { - return TRUE; + return true; } float scal_prod = (x - from_x) * pw_x + (y - from_y) * pw_y; return (scal_prod < 0.); @@ -392,7 +392,7 @@ void nav_route_xy(float last_wp_x, float last_wp_y, float wp_x, float wp_y) float carrot = CARROT * NOMINAL_AIRSPEED; nav_carrot_leg_progress = nav_leg_progress + Max(carrot / nav_leg_length, 0.); - nav_in_segment = TRUE; + nav_in_segment = true; nav_segment_x_1 = last_wp_x; nav_segment_y_1 = last_wp_y; nav_segment_x_2 = wp_x; @@ -438,7 +438,7 @@ void nav_home(void) */ void nav_periodic_task(void) { - nav_survey_active = FALSE; + nav_survey_active = false; compute_dist2_to_home(); dist2_to_wp = 0.; @@ -481,10 +481,10 @@ static void send_wp_moved(struct transport_tx *trans, struct link_device *dev) DownlinkSendWp(trans, dev, i); } -bool_t DownlinkSendWpNr(uint8_t _wp) +bool DownlinkSendWpNr(uint8_t _wp) { DownlinkSendWp(&(DefaultChannel).trans_tx, &(DefaultDevice).device, _wp); - return FALSE; + return false; } diff --git a/sw/airborne/firmwares/fixedwing/nav.h b/sw/airborne/firmwares/fixedwing/nav.h index 3e8848498b..f80821c2a6 100644 --- a/sw/airborne/firmwares/fixedwing/nav.h +++ b/sw/airborne/firmwares/fixedwing/nav.h @@ -68,8 +68,8 @@ extern float carrot_x, carrot_y; extern float nav_circle_radians; /* Cumulated */ extern float nav_circle_radians_no_rewind; /* Cumulated */ -extern bool_t nav_in_circle; -extern bool_t nav_in_segment; +extern bool nav_in_circle; +extern bool nav_in_segment; extern float nav_circle_x, nav_circle_y, nav_circle_radius; /* m */ extern float nav_segment_x_1, nav_segment_y_1, nav_segment_x_2, nav_segment_y_2; /* m */ @@ -112,7 +112,7 @@ extern float nav_ground_speed_pgain, nav_ground_speed_setpoint; extern float nav_survey_shift; extern float nav_survey_west, nav_survey_east, nav_survey_north, nav_survey_south; -extern bool_t nav_survey_active; +extern bool nav_survey_active; extern void nav_periodic_task(void); extern void nav_home(void); @@ -123,8 +123,8 @@ extern float nav_circle_trigo_qdr; /** Angle from center to mobile */ extern void nav_circle_XY(float x, float y, float radius); extern float baseleg_out_qdr; -extern bool_t nav_compute_baseleg(uint8_t wp_af, uint8_t wp_td, uint8_t wp_baseleg, float radius); -extern bool_t nav_compute_final_from_glide(uint8_t wp_af, uint8_t wp_td, float glide); +extern bool nav_compute_baseleg(uint8_t wp_af, uint8_t wp_td, uint8_t wp_baseleg, float radius); +extern bool nav_compute_final_from_glide(uint8_t wp_af, uint8_t wp_td, float glide); #define RCLost() bit_is_set(fbw_state->status, STATUS_RADIO_REALLY_LOST) @@ -160,7 +160,7 @@ extern void nav_route_xy(float last_wp_x, float last_wp_y, float wp_x, float wp_ #define NavSegment(_start, _end) \ nav_route_xy(waypoints[_start].x, waypoints[_start].y, waypoints[_end].x, waypoints[_end].y) -bool_t nav_approaching_xy(float x, float y, float from_x, float from_y, float approaching_time); +bool nav_approaching_xy(float x, float y, float from_x, float from_y, float approaching_time); #define NavApproaching(wp, time) nav_approaching_xy(waypoints[wp].x, waypoints[wp].y, last_x, last_y, time) #define NavApproachingFrom(wp, from, time) nav_approaching_xy(waypoints[wp].x, waypoints[wp].y, waypoints[from].x, waypoints[from].y, time) @@ -230,7 +230,7 @@ bool_t nav_approaching_xy(float x, float y, float from_x, float from_y, float ap pprz_msg_send_NAVIGATION(_trans, _dev, AC_ID, &nav_block, &nav_stage, &(pos->x), &(pos->y), &dist_wp, &dist_home, &_circle_count, &nav_oval_count); \ } -extern bool_t DownlinkSendWpNr(uint8_t _wp); +extern bool DownlinkSendWpNr(uint8_t _wp); #define DownlinkSendWp(_trans, _dev, i) { \ float x = nav_utm_east0 + waypoints[i].x; \ diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c index da86184584..85a2d8caae 100644 --- a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c +++ b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c @@ -85,10 +85,10 @@ float h_ctl_course_dgain; float h_ctl_roll_max_setpoint; /* roll and pitch disabling */ -bool_t h_ctl_disabled; +bool h_ctl_disabled; /* AUTO1 rate mode */ -bool_t h_ctl_auto1_rate; +bool h_ctl_auto1_rate; struct HCtlAdaptRef { float roll_angle; @@ -196,7 +196,7 @@ float h_ctl_aileron_of_throttle; float h_ctl_elevator_of_roll; float h_ctl_pitch_of_roll; // Should be used instead of elevator_of_roll -bool_t use_airspeed_ratio; +bool use_airspeed_ratio; float airspeed_ratio2; #define AIRSPEED_RATIO_MIN 0.5 #define AIRSPEED_RATIO_MAX 2. @@ -309,7 +309,7 @@ void h_ctl_init(void) h_ctl_course_dgain = H_CTL_COURSE_DGAIN; h_ctl_roll_max_setpoint = H_CTL_ROLL_MAX_SETPOINT; - h_ctl_disabled = FALSE; + h_ctl_disabled = false; h_ctl_roll_setpoint = 0.; h_ctl_roll_attitude_gain = H_CTL_ROLL_ATTITUDE_GAIN; @@ -349,7 +349,7 @@ void h_ctl_init(void) h_ctl_pitch_of_roll = H_CTL_PITCH_OF_ROLL; #endif - use_airspeed_ratio = FALSE; + use_airspeed_ratio = false; airspeed_ratio2 = 1.; #if USE_PITCH_TRIM diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.h b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.h index aaa2bfc72d..5175ef7a26 100644 --- a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.h +++ b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.h @@ -63,6 +63,6 @@ extern float h_ctl_yaw_ny_igain; h_ctl_pitch_igain = _gain; \ } -extern bool_t use_airspeed_ratio; +extern bool use_airspeed_ratio; #endif /* FW_H_CTL_A_H */ diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c index 724dd9647c..02994c0e70 100644 --- a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c +++ b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c @@ -44,10 +44,10 @@ float h_ctl_course_dgain; float h_ctl_roll_max_setpoint; /* roll and pitch disabling */ -bool_t h_ctl_disabled; +bool h_ctl_disabled; /* AUTO1 rate mode */ -bool_t h_ctl_auto1_rate; +bool h_ctl_auto1_rate; /* inner roll loop parameters */ @@ -145,7 +145,7 @@ void h_ctl_init(void) h_ctl_pitch_mode = 0; #endif - h_ctl_disabled = FALSE; + h_ctl_disabled = false; h_ctl_roll_setpoint = 0.; #ifdef H_CTL_ROLL_PGAIN diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.h b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.h index 42c1f7b605..e583f27169 100644 --- a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.h +++ b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.h @@ -48,10 +48,10 @@ extern float v_ctl_auto_throttle_dash_trim; #endif /* roll and pitch disabling */ -extern bool_t h_ctl_disabled; +extern bool h_ctl_disabled; /* AUTO1 rate mode */ -extern bool_t h_ctl_auto1_rate; +extern bool h_ctl_auto1_rate; /* inner roll loop parameters */ extern float h_ctl_roll_setpoint; diff --git a/sw/airborne/firmwares/motor_bench/main_motor_bench.c b/sw/airborne/firmwares/motor_bench/main_motor_bench.c index 011407ed5a..9fcf98f742 100644 --- a/sw/airborne/firmwares/motor_bench/main_motor_bench.c +++ b/sw/airborne/firmwares/motor_bench/main_motor_bench.c @@ -101,16 +101,16 @@ static inline void main_event_task(void) ReadPprzBuffer(); if (pprz_msg_received) { pprz_parse_payload(); - pprz_msg_received = FALSE; + pprz_msg_received = false; } } if (dl_msg_available) { main_dl_parse_msg(); - dl_msg_available = FALSE; + dl_msg_available = false; } } -bool_t dl_msg_available; +bool dl_msg_available; #define MSG_SIZE 128 uint8_t dl_buffer[MSG_SIZE] __attribute__((aligned)); diff --git a/sw/airborne/firmwares/motor_bench/mb_tacho.c b/sw/airborne/firmwares/motor_bench/mb_tacho.c index 92191a9c4c..02fb07af7d 100644 --- a/sw/airborne/firmwares/motor_bench/mb_tacho.c +++ b/sw/airborne/firmwares/motor_bench/mb_tacho.c @@ -32,7 +32,7 @@ uint32_t mb_tacho_get_duration(void) if (got_one_pulse) { my_duration = mb_tacho_duration; } - got_one_pulse = FALSE; + got_one_pulse = false; mcu_int_enable(); return my_duration; } diff --git a/sw/airborne/firmwares/motor_bench/mb_tacho.h b/sw/airborne/firmwares/motor_bench/mb_tacho.h index b003726c51..bd1bcc341b 100644 --- a/sw/airborne/firmwares/motor_bench/mb_tacho.h +++ b/sw/airborne/firmwares/motor_bench/mb_tacho.h @@ -21,7 +21,7 @@ extern volatile uint16_t mb_tacho_nb_pulse; mb_tacho_averaged += diff; \ mb_tacho_nb_pulse++; \ tmb_last = t_now; \ - got_one_pulse = TRUE; \ + got_one_pulse = true; \ } #endif /* MB_TACHO_H */ diff --git a/sw/airborne/firmwares/motor_bench/mb_twi_controller.c b/sw/airborne/firmwares/motor_bench/mb_twi_controller.c index 1053c22609..30722eac96 100644 --- a/sw/airborne/firmwares/motor_bench/mb_twi_controller.c +++ b/sw/airborne/firmwares/motor_bench/mb_twi_controller.c @@ -13,7 +13,7 @@ uint8_t mb_twi_i2c_done; void mb_twi_controller_init(void) { mb_twi_nb_overun = 0; - mb_twi_i2c_done = TRUE; + mb_twi_i2c_done = true; } void mb_twi_controller_set(float throttle) diff --git a/sw/airborne/firmwares/motor_bench/mb_twi_controller_asctech.c b/sw/airborne/firmwares/motor_bench/mb_twi_controller_asctech.c index 1a77ff92d7..e23f4e8aa9 100644 --- a/sw/airborne/firmwares/motor_bench/mb_twi_controller_asctech.c +++ b/sw/airborne/firmwares/motor_bench/mb_twi_controller_asctech.c @@ -5,7 +5,7 @@ #include "led.h" -bool_t mb_twi_controller_asctech_command; +bool mb_twi_controller_asctech_command; uint8_t mb_twi_controller_asctech_command_type; #define MB_TWI_CONTROLLER_ASCTECH_ADDR_FRONT 0 @@ -25,8 +25,8 @@ uint8_t mb_twi_i2c_done; void mb_twi_controller_init(void) { mb_twi_nb_overun = 0; - mb_twi_i2c_done = TRUE; - mb_twi_controller_asctech_command = FALSE; + mb_twi_i2c_done = true; + mb_twi_controller_asctech_command = false; mb_twi_controller_asctech_command_type = MB_TWI_CONTROLLER_COMMAND_NONE; mb_twi_controller_asctech_addr = MB_TWI_CONTROLLER_ASCTECH_ADDR_FRONT; } @@ -36,7 +36,7 @@ void mb_twi_controller_set(float throttle) if (mb_twi_i2c_done) { if (mb_twi_controller_asctech_command) { - mb_twi_controller_asctech_command = FALSE; + mb_twi_controller_asctech_command = false; switch (mb_twi_controller_asctech_command_type) { case MB_TWI_CONTROLLER_COMMAND_TEST : @@ -44,7 +44,7 @@ void mb_twi_controller_set(float throttle) i2c0_buf[1] = mb_twi_controller_asctech_addr; i2c0_buf[2] = 0; i2c0_buf[3] = 231 + mb_twi_controller_asctech_addr; - // mb_twi_i2c_done = FALSE; + // mb_twi_i2c_done = false; i2c0_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done); break; @@ -53,7 +53,7 @@ void mb_twi_controller_set(float throttle) i2c0_buf[1] = mb_twi_controller_asctech_addr; i2c0_buf[2] = 0; i2c0_buf[3] = 234 + mb_twi_controller_asctech_addr; - // mb_twi_i2c_done = FALSE; + // mb_twi_i2c_done = false; i2c0_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done); break; @@ -64,7 +64,7 @@ void mb_twi_controller_set(float throttle) i2c0_buf[3] = 230 + mb_twi_controller_asctech_addr + mb_twi_controller_asctech_new_addr; mb_twi_controller_asctech_addr = mb_twi_controller_asctech_new_addr; - // mb_twi_i2c_done = FALSE; + // mb_twi_i2c_done = false; i2c0_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done); break; @@ -79,7 +79,7 @@ void mb_twi_controller_set(float throttle) i2c0_buf[1] = roll; i2c0_buf[2] = yaw; i2c0_buf[3] = power; - // mb_twi_i2c_done = FALSE; + // mb_twi_i2c_done = false; i2c0_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done); } } else { diff --git a/sw/airborne/firmwares/motor_bench/mb_twi_controller_asctech.h b/sw/airborne/firmwares/motor_bench/mb_twi_controller_asctech.h index b65af55d57..69eb13c43a 100644 --- a/sw/airborne/firmwares/motor_bench/mb_twi_controller_asctech.h +++ b/sw/airborne/firmwares/motor_bench/mb_twi_controller_asctech.h @@ -13,18 +13,18 @@ extern void mb_twi_controller_set_raw(uint8_t throttle); #define MB_TWI_CONTROLLER_COMMAND_SET_ADDR 3 -extern bool_t mb_twi_controller_asctech_command; +extern bool mb_twi_controller_asctech_command; extern uint8_t mb_twi_controller_asctech_command_type; extern uint8_t mb_twi_controller_asctech_addr; extern uint8_t mb_twi_controller_asctech_new_addr; #define mb_twi_controller_asctech_SetCommand(value) { \ - mb_twi_controller_asctech_command = TRUE; \ + mb_twi_controller_asctech_command = true; \ mb_twi_controller_asctech_command_type = value; \ } #define mb_twi_controller_asctech_SetAddr(value) { \ - mb_twi_controller_asctech_command = TRUE; \ + mb_twi_controller_asctech_command = true; \ mb_twi_controller_asctech_command_type = MB_TWI_CONTROLLER_COMMAND_SET_ADDR; \ mb_twi_controller_asctech_new_addr = value; \ } diff --git a/sw/airborne/firmwares/motor_bench/mb_twi_controller_mkk.c b/sw/airborne/firmwares/motor_bench/mb_twi_controller_mkk.c index 76916365bd..cf4e19119a 100644 --- a/sw/airborne/firmwares/motor_bench/mb_twi_controller_mkk.c +++ b/sw/airborne/firmwares/motor_bench/mb_twi_controller_mkk.c @@ -23,7 +23,7 @@ uint8_t mb_buss_twi_i2c_done; void mb_twi_controller_init(void) { mb_buss_twi_nb_overun = 0; - mb_buss_twi_i2c_done = TRUE; + mb_buss_twi_i2c_done = true; } void mb_twi_controller_set(float throttle) diff --git a/sw/airborne/firmwares/motor_bench/turntable_systime.c b/sw/airborne/firmwares/motor_bench/turntable_systime.c index 78da429609..34c8cfc2a5 100644 --- a/sw/airborne/firmwares/motor_bench/turntable_systime.c +++ b/sw/airborne/firmwares/motor_bench/turntable_systime.c @@ -54,7 +54,7 @@ static inline void sys_tick_irq_handler(void) if (sys_time.timer[i].in_use && sys_time.nb_tick >= sys_time.timer[i].end_time) { sys_time.timer[i].end_time += sys_time.timer[i].duration; - sys_time.timer[i].elapsed = TRUE; + sys_time.timer[i].elapsed = true; if (sys_time.timer[i].cb) { sys_time.timer[i].cb(i); } } } @@ -81,7 +81,7 @@ void TIMER0_ISR(void) lp_pulse = (lp_pulse + diff) / 2; pulse_last_t = t_now; nb_pulse++; - // got_one_pulse = TRUE; + // got_one_pulse = true; T0IR = TIR_CR0I; } } diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.c b/sw/airborne/firmwares/rotorcraft/autopilot.c index 374f1f5865..7377040e07 100644 --- a/sw/airborne/firmwares/rotorcraft/autopilot.c +++ b/sw/airborne/firmwares/rotorcraft/autopilot.c @@ -69,18 +69,18 @@ uint8_t autopilot_mode; uint8_t autopilot_mode_auto2; -bool_t autopilot_in_flight; +bool autopilot_in_flight; uint32_t autopilot_in_flight_counter; uint16_t autopilot_flight_time; -bool_t autopilot_motors_on; -bool_t kill_throttle; +bool autopilot_motors_on; +bool kill_throttle; -bool_t autopilot_rc; -bool_t autopilot_power_switch; +bool autopilot_rc; +bool autopilot_power_switch; -bool_t autopilot_ground_detected; -bool_t autopilot_detect_ground_once; +bool autopilot_ground_detected; +bool autopilot_detect_ground_once; /** time steps for in_flight detection (at 20Hz, so 20=1second) */ #ifndef AUTOPILOT_IN_FLIGHT_TIME @@ -111,7 +111,7 @@ static inline int ahrs_is_aligned(void) PRINT_CONFIG_MSG("Using AUTOPILOT_DISABLE_AHRS_KILL") static inline int ahrs_is_aligned(void) { - return TRUE; + return true; } #endif @@ -194,12 +194,13 @@ static void send_status(struct transport_tx *trans, struct link_device *dev) #else uint8_t fix = 0; #endif + uint8_t in_flight = autopilot_in_flight; + uint8_t motors_on = autopilot_motors_on; uint16_t time_sec = sys_time.nb_sec; pprz_msg_send_ROTORCRAFT_STATUS(trans, dev, AC_ID, &imu_nb_err, &_motor_nb_err, &radio_control.status, &radio_control.frame_rate, - &fix, &autopilot_mode, - &autopilot_in_flight, &autopilot_motors_on, + &fix, &autopilot_mode, &in_flight, &motors_on, &guidance_h.mode, &guidance_v_mode, &electrical.vsupply, &time_sec); } @@ -287,16 +288,16 @@ void autopilot_init(void) { /* mode is finally set at end of init if MODE_STARTUP is not KILL */ autopilot_mode = AP_MODE_KILL; - autopilot_motors_on = FALSE; + autopilot_motors_on = false; kill_throttle = ! autopilot_motors_on; - autopilot_in_flight = FALSE; + autopilot_in_flight = false; autopilot_in_flight_counter = 0; autopilot_mode_auto2 = MODE_AUTO2; - autopilot_ground_detected = FALSE; - autopilot_detect_ground_once = FALSE; + autopilot_ground_detected = false; + autopilot_detect_ground_once = false; autopilot_flight_time = 0; - autopilot_rc = TRUE; - autopilot_power_switch = FALSE; + autopilot_rc = true; + autopilot_power_switch = false; #ifdef POWER_SWITCH_GPIO gpio_setup_output(POWER_SWITCH_GPIO); gpio_clear(POWER_SWITCH_GPIO); // POWER OFF @@ -379,8 +380,8 @@ void autopilot_periodic(void) /* Reset ground detection _after_ running flight plan */ if (!autopilot_in_flight) { - autopilot_ground_detected = FALSE; - autopilot_detect_ground_once = FALSE; + autopilot_ground_detected = false; + autopilot_detect_ground_once = false; } /* Set fixed "failsafe" commands from airframe file if in KILL mode. @@ -416,7 +417,7 @@ void autopilot_set_mode(uint8_t new_autopilot_mode) break; #endif case AP_MODE_KILL: - autopilot_in_flight = FALSE; + autopilot_in_flight = false; autopilot_in_flight_counter = 0; guidance_h_mode_changed(GUIDANCE_H_MODE_KILL); break; @@ -521,18 +522,18 @@ void autopilot_set_mode(uint8_t new_autopilot_mode) } -bool_t autopilot_guided_goto_ned(float x, float y, float z, float heading) +bool autopilot_guided_goto_ned(float x, float y, float z, float heading) { if (autopilot_mode == AP_MODE_GUIDED) { guidance_h_set_guided_pos(x, y); guidance_h_set_guided_heading(heading); guidance_v_set_guided_z(z); - return TRUE; + return true; } - return FALSE; + return false; } -bool_t autopilot_guided_goto_ned_relative(float dx, float dy, float dz, float dyaw) +bool autopilot_guided_goto_ned_relative(float dx, float dy, float dz, float dyaw) { if (autopilot_mode == AP_MODE_GUIDED && stateIsLocalCoordinateValid()) { float x = stateGetPositionNed_f()->x + dx; @@ -541,10 +542,10 @@ bool_t autopilot_guided_goto_ned_relative(float dx, float dy, float dz, float dy float heading = stateGetNedToBodyEulers_f()->psi + dyaw; return autopilot_guided_goto_ned(x, y, z, heading); } - return FALSE; + return false; } -bool_t autopilot_guided_goto_body_relative(float dx, float dy, float dz, float dyaw) +bool autopilot_guided_goto_body_relative(float dx, float dy, float dz, float dyaw) { if (autopilot_mode == AP_MODE_GUIDED && stateIsLocalCoordinateValid()) { float psi = stateGetNedToBodyEulers_f()->psi; @@ -554,21 +555,21 @@ bool_t autopilot_guided_goto_body_relative(float dx, float dy, float dz, float d float heading = psi + dyaw; return autopilot_guided_goto_ned(x, y, z, heading); } - return FALSE; + return false; } -bool_t autopilot_guided_move_ned(float vx, float vy, float vz, float heading) +bool autopilot_guided_move_ned(float vx, float vy, float vz, float heading) { if (autopilot_mode == AP_MODE_GUIDED) { guidance_h_set_guided_vel(vx, vy); guidance_h_set_guided_heading(heading); guidance_v_set_guided_vz(vz); - return TRUE; + return true; } - return FALSE; + return false; } -void autopilot_check_in_flight(bool_t motors_on) +void autopilot_check_in_flight(bool motors_on) { if (autopilot_in_flight) { if (autopilot_in_flight_counter > 0) { @@ -578,7 +579,7 @@ void autopilot_check_in_flight(bool_t motors_on) (fabsf(stateGetAccelNed_f()->z) < AUTOPILOT_IN_FLIGHT_MIN_ACCEL)) { autopilot_in_flight_counter--; if (autopilot_in_flight_counter == 0) { - autopilot_in_flight = FALSE; + autopilot_in_flight = false; } } else { /* thrust, speed or accel not above min threshold, reset counter */ autopilot_in_flight_counter = AUTOPILOT_IN_FLIGHT_TIME; @@ -593,7 +594,7 @@ void autopilot_check_in_flight(bool_t motors_on) if (stabilization_cmd[COMMAND_THRUST] > AUTOPILOT_IN_FLIGHT_MIN_THRUST) { autopilot_in_flight_counter++; if (autopilot_in_flight_counter == AUTOPILOT_IN_FLIGHT_TIME) { - autopilot_in_flight = TRUE; + autopilot_in_flight = true; } } else { /* currently not in_flight and thrust below threshold, reset counter */ autopilot_in_flight_counter = 0; @@ -603,12 +604,12 @@ void autopilot_check_in_flight(bool_t motors_on) } -void autopilot_set_motors_on(bool_t motors_on) +void autopilot_set_motors_on(bool motors_on) { if (autopilot_mode != AP_MODE_KILL && ahrs_is_aligned() && motors_on) { - autopilot_motors_on = TRUE; + autopilot_motors_on = true; } else { - autopilot_motors_on = FALSE; + autopilot_motors_on = false; } kill_throttle = ! autopilot_motors_on; autopilot_arming_set(autopilot_motors_on); diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.h b/sw/airborne/firmwares/rotorcraft/autopilot.h index 7e1ddeeace..a64f774a9c 100644 --- a/sw/airborne/firmwares/rotorcraft/autopilot.h +++ b/sw/airborne/firmwares/rotorcraft/autopilot.h @@ -56,22 +56,22 @@ extern uint8_t autopilot_mode; extern uint8_t autopilot_mode_auto2; -extern bool_t autopilot_motors_on; -extern bool_t autopilot_in_flight; -extern bool_t kill_throttle; -extern bool_t autopilot_rc; +extern bool autopilot_motors_on; +extern bool autopilot_in_flight; +extern bool kill_throttle; +extern bool autopilot_rc; -extern bool_t autopilot_power_switch; +extern bool autopilot_power_switch; extern void autopilot_init(void); extern void autopilot_periodic(void); extern void autopilot_on_rc_frame(void); extern void autopilot_set_mode(uint8_t new_autopilot_mode); -extern void autopilot_set_motors_on(bool_t motors_on); -extern void autopilot_check_in_flight(bool_t motors_on); +extern void autopilot_set_motors_on(bool motors_on); +extern void autopilot_check_in_flight(bool motors_on); -extern bool_t autopilot_ground_detected; -extern bool_t autopilot_detect_ground_once; +extern bool autopilot_ground_detected; +extern bool autopilot_detect_ground_once; extern uint16_t autopilot_flight_time; @@ -153,8 +153,8 @@ static inline void DetectGroundEvent(void) struct NedCoor_f *accel = stateGetAccelNed_f(); if (accel->z < -THRESHOLD_GROUND_DETECT || accel->z > THRESHOLD_GROUND_DETECT) { - autopilot_ground_detected = TRUE; - autopilot_detect_ground_once = FALSE; + autopilot_ground_detected = true; + autopilot_detect_ground_once = false; } } } @@ -190,7 +190,7 @@ extern void send_autopilot_version(struct transport_tx *trans, struct link_devic * @param heading Setpoint in radians. * @return TRUE if setpoint was set (currently in AP_MODE_GUIDED) */ -extern bool_t autopilot_guided_goto_ned(float x, float y, float z, float heading); +extern bool autopilot_guided_goto_ned(float x, float y, float z, float heading); /** Set position and heading setpoints wrt. current position in GUIDED mode. * @param dx Offset relative to current north position (local NED frame) in meters. @@ -199,7 +199,7 @@ extern bool_t autopilot_guided_goto_ned(float x, float y, float z, float heading * @param dyaw Offset relative to current heading setpoint in radians. * @return TRUE if setpoint was set (currently in AP_MODE_GUIDED) */ -extern bool_t autopilot_guided_goto_ned_relative(float dx, float dy, float dz, float dyaw); +extern bool autopilot_guided_goto_ned_relative(float dx, float dy, float dz, float dyaw); /** Set position and heading setpoints wrt. current position AND heading in GUIDED mode. * @param dx relative position (body frame, forward) in meters. @@ -208,7 +208,7 @@ extern bool_t autopilot_guided_goto_ned_relative(float dx, float dy, float dz, f * @param dyaw Offset relative to current heading setpoint in radians. * @return TRUE if setpoint was set (currently in AP_MODE_GUIDED) */ -extern bool_t autopilot_guided_goto_body_relative(float dx, float dy, float dz, float dyaw); +extern bool autopilot_guided_goto_body_relative(float dx, float dy, float dz, float dyaw); /** Set velocity and heading setpoints in GUIDED mode. * @param vx North velocity (local NED frame) in meters/sec. @@ -217,6 +217,6 @@ extern bool_t autopilot_guided_goto_body_relative(float dx, float dy, float dz, * @param heading Setpoint in radians. * @return TRUE if setpoint was set (currently in AP_MODE_GUIDED) */ -extern bool_t autopilot_guided_move_ned(float vx, float vy, float vz, float heading); +extern bool autopilot_guided_move_ned(float vx, float vy, float vz, float heading); #endif /* AUTOPILOT_H */ diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_arming_switch.h b/sw/airborne/firmwares/rotorcraft/autopilot_arming_switch.h index 015165793a..fcdeef6fb7 100644 --- a/sw/airborne/firmwares/rotorcraft/autopilot_arming_switch.h +++ b/sw/airborne/firmwares/rotorcraft/autopilot_arming_switch.h @@ -43,15 +43,15 @@ enum arming_state { }; enum arming_state autopilot_arming_state; -bool_t autopilot_unarmed_in_auto; +bool autopilot_unarmed_in_auto; static inline void autopilot_arming_init(void) { autopilot_arming_state = STATE_UNINIT; - autopilot_unarmed_in_auto = FALSE; + autopilot_unarmed_in_auto = false; } -static inline void autopilot_arming_set(bool_t motors_on) +static inline void autopilot_arming_set(bool motors_on) { if (motors_on) { autopilot_arming_state = STATE_MOTORS_ON; @@ -61,9 +61,9 @@ static inline void autopilot_arming_set(bool_t motors_on) /* if turned off in an AUTO mode, remember it so it can be turned on again in AUTO */ if (autopilot_mode != MODE_MANUAL && autopilot_mode != AP_MODE_KILL && autopilot_mode != AP_MODE_FAILSAFE) { - autopilot_unarmed_in_auto = TRUE; + autopilot_unarmed_in_auto = true; } else { - autopilot_unarmed_in_auto = FALSE; + autopilot_unarmed_in_auto = false; } } } @@ -80,7 +80,7 @@ static inline void autopilot_arming_check_motors_on(void) { switch (autopilot_arming_state) { case STATE_UNINIT: - autopilot_motors_on = FALSE; + autopilot_motors_on = false; if (kill_switch_is_on()) { autopilot_arming_state = STATE_STARTABLE; } else { @@ -88,13 +88,13 @@ static inline void autopilot_arming_check_motors_on(void) } break; case STATE_WAITING: - autopilot_motors_on = FALSE; + autopilot_motors_on = false; if (kill_switch_is_on()) { autopilot_arming_state = STATE_STARTABLE; } break; case STATE_STARTABLE: - autopilot_motors_on = FALSE; + autopilot_motors_on = false; /* don't allow to start if in KILL mode or kill switch is on */ if (autopilot_mode == AP_MODE_KILL || kill_switch_is_on()) { break; @@ -107,17 +107,17 @@ static inline void autopilot_arming_check_motors_on(void) case STATE_MOTORS_ON: if (kill_switch_is_on()) { /* kill motors, go to startable state */ - autopilot_motors_on = FALSE; + autopilot_motors_on = false; autopilot_arming_state = STATE_STARTABLE; /* if turned off in an AUTO mode, remember it so it can be turned on again in AUTO */ if (autopilot_mode != MODE_MANUAL && autopilot_mode != AP_MODE_KILL && autopilot_mode != AP_MODE_FAILSAFE) { - autopilot_unarmed_in_auto = TRUE; + autopilot_unarmed_in_auto = true; } else { - autopilot_unarmed_in_auto = FALSE; + autopilot_unarmed_in_auto = false; } } else { - autopilot_motors_on = TRUE; + autopilot_motors_on = true; } break; default: diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_arming_throttle.h b/sw/airborne/firmwares/rotorcraft/autopilot_arming_throttle.h index 9ba5021f5e..99ad493d07 100644 --- a/sw/airborne/firmwares/rotorcraft/autopilot_arming_throttle.h +++ b/sw/airborne/firmwares/rotorcraft/autopilot_arming_throttle.h @@ -44,16 +44,16 @@ enum arming_throttle_state { enum arming_throttle_state autopilot_arming_state; uint8_t autopilot_arming_delay_counter; -bool_t autopilot_unarmed_in_auto; +bool autopilot_unarmed_in_auto; static inline void autopilot_arming_init(void) { autopilot_arming_state = STATE_UNINIT; autopilot_arming_delay_counter = 0; - autopilot_unarmed_in_auto = FALSE; + autopilot_unarmed_in_auto = false; } -static inline void autopilot_arming_set(bool_t motors_on) +static inline void autopilot_arming_set(bool motors_on) { if (motors_on) { autopilot_arming_state = STATE_MOTORS_ON; @@ -79,7 +79,7 @@ static inline void autopilot_arming_check_motors_on(void) switch (autopilot_arming_state) { case STATE_UNINIT: - autopilot_motors_on = FALSE; + autopilot_motors_on = false; autopilot_arming_delay_counter = 0; if (THROTTLE_STICK_DOWN()) { autopilot_arming_state = STATE_MOTORS_OFF_READY; @@ -88,14 +88,14 @@ static inline void autopilot_arming_check_motors_on(void) } break; case STATE_WAITING: - autopilot_motors_on = FALSE; + autopilot_motors_on = false; autopilot_arming_delay_counter = 0; if (THROTTLE_STICK_DOWN()) { autopilot_arming_state = STATE_MOTORS_OFF_READY; } break; case STATE_MOTORS_OFF_READY: - autopilot_motors_on = FALSE; + autopilot_motors_on = false; autopilot_arming_delay_counter = 0; if (!THROTTLE_STICK_DOWN() && rc_attitude_sticks_centered() && @@ -104,7 +104,7 @@ static inline void autopilot_arming_check_motors_on(void) } break; case STATE_ARMING: - autopilot_motors_on = FALSE; + autopilot_motors_on = false; autopilot_arming_delay_counter++; if (THROTTLE_STICK_DOWN() || !rc_attitude_sticks_centered() || @@ -115,23 +115,23 @@ static inline void autopilot_arming_check_motors_on(void) } break; case STATE_MOTORS_ON: - autopilot_motors_on = TRUE; + autopilot_motors_on = true; autopilot_arming_delay_counter = AUTOPILOT_ARMING_DELAY; if (THROTTLE_STICK_DOWN()) { autopilot_arming_state = STATE_UNARMING; } break; case STATE_UNARMING: - autopilot_motors_on = TRUE; + autopilot_motors_on = true; autopilot_arming_delay_counter--; if (!THROTTLE_STICK_DOWN()) { autopilot_arming_state = STATE_MOTORS_ON; } else if (autopilot_arming_delay_counter == 0) { autopilot_arming_state = STATE_MOTORS_OFF_READY; if (autopilot_mode != MODE_MANUAL) { - autopilot_unarmed_in_auto = TRUE; + autopilot_unarmed_in_auto = true; } else { - autopilot_unarmed_in_auto = FALSE; + autopilot_unarmed_in_auto = false; } } break; diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_arming_yaw.h b/sw/airborne/firmwares/rotorcraft/autopilot_arming_yaw.h index 25ad60e9c9..d7bfc72ac4 100644 --- a/sw/airborne/firmwares/rotorcraft/autopilot_arming_yaw.h +++ b/sw/airborne/firmwares/rotorcraft/autopilot_arming_yaw.h @@ -65,7 +65,7 @@ static inline void autopilot_arming_init(void) /** Update the status of the check_motors state machine. */ -static inline void autopilot_arming_set(bool_t motors_on) +static inline void autopilot_arming_set(bool motors_on) { if (motors_on) { autopilot_check_motor_status = STATUS_MOTORS_ON; @@ -94,7 +94,7 @@ static inline void autopilot_arming_check_motors_on(void) case STATUS_MOTORS_AUTOMATICALLY_OFF: // Motors were disarmed externally //(possibly due to crash) //wait extra delay before enabling the normal arming state machine - autopilot_motors_on = FALSE; + autopilot_motors_on = false; autopilot_motors_on_counter = 0; if (THROTTLE_STICK_DOWN() && YAW_STICK_CENTERED()) { // stick released autopilot_check_motor_status = STATUS_MOTORS_AUTOMATICALLY_OFF_SAFETY_WAIT; @@ -107,14 +107,14 @@ static inline void autopilot_arming_check_motors_on(void) } break; case STATUS_MOTORS_OFF: - autopilot_motors_on = FALSE; + autopilot_motors_on = false; autopilot_motors_on_counter = 0; if (THROTTLE_STICK_DOWN() && YAW_STICK_PUSHED()) { // stick pushed autopilot_check_motor_status = STATUS_M_OFF_STICK_PUSHED; } break; case STATUS_M_OFF_STICK_PUSHED: - autopilot_motors_on = FALSE; + autopilot_motors_on = false; autopilot_motors_on_counter++; if (autopilot_motors_on_counter >= MOTOR_ARMING_DELAY) { autopilot_check_motor_status = STATUS_START_MOTORS; @@ -123,21 +123,21 @@ static inline void autopilot_arming_check_motors_on(void) } break; case STATUS_START_MOTORS: - autopilot_motors_on = TRUE; + autopilot_motors_on = true; autopilot_motors_on_counter = MOTOR_ARMING_DELAY; if (!(THROTTLE_STICK_DOWN() && YAW_STICK_PUSHED())) { // wait until stick released autopilot_check_motor_status = STATUS_MOTORS_ON; } break; case STATUS_MOTORS_ON: - autopilot_motors_on = TRUE; + autopilot_motors_on = true; autopilot_motors_on_counter = MOTOR_ARMING_DELAY; if (THROTTLE_STICK_DOWN() && YAW_STICK_PUSHED()) { // stick pushed autopilot_check_motor_status = STATUS_M_ON_STICK_PUSHED; } break; case STATUS_M_ON_STICK_PUSHED: - autopilot_motors_on = TRUE; + autopilot_motors_on = true; autopilot_motors_on_counter--; if (autopilot_motors_on_counter == 0) { autopilot_check_motor_status = STATUS_STOP_MOTORS; @@ -146,7 +146,7 @@ static inline void autopilot_arming_check_motors_on(void) } break; case STATUS_STOP_MOTORS: - autopilot_motors_on = FALSE; + autopilot_motors_on = false; autopilot_motors_on_counter = 0; if (!(THROTTLE_STICK_DOWN() && YAW_STICK_PUSHED())) { // wait until stick released autopilot_check_motor_status = STATUS_MOTORS_OFF; diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_rc_helpers.h b/sw/airborne/firmwares/rotorcraft/autopilot_rc_helpers.h index 43482ccb1a..bd9ca01467 100644 --- a/sw/airborne/firmwares/rotorcraft/autopilot_rc_helpers.h +++ b/sw/airborne/firmwares/rotorcraft/autopilot_rc_helpers.h @@ -52,24 +52,24 @@ (radio_control.values[RADIO_ROLL] < AUTOPILOT_STICK_CENTER_THRESHOLD && \ radio_control.values[RADIO_ROLL] > -AUTOPILOT_STICK_CENTER_THRESHOLD) -static inline bool_t rc_attitude_sticks_centered(void) +static inline bool rc_attitude_sticks_centered(void) { return ROLL_STICK_CENTERED() && PITCH_STICK_CENTERED() && YAW_STICK_CENTERED(); } #ifdef RADIO_KILL_SWITCH -static inline bool_t kill_switch_is_on(void) +static inline bool kill_switch_is_on(void) { if (radio_control.values[RADIO_KILL_SWITCH] < 0) { - return TRUE; + return true; } else { - return FALSE; + return false; } } #else -static inline bool_t kill_switch_is_on(void) +static inline bool kill_switch_is_on(void) { - return FALSE; + return false; } #endif diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_flip.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_flip.c index e28bf47c92..7ee46e8ba2 100644 --- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_flip.c +++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_flip.c @@ -48,7 +48,7 @@ uint32_t flip_counter; uint8_t flip_state; -bool_t flip_rollout; +bool flip_rollout; int32_t heading_save; uint8_t autopilot_mode_old; struct Int32Vect2 flip_cmd_earth; diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c index 99ab607898..14ab2564d1 100644 --- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c +++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c @@ -96,12 +96,12 @@ struct Int32Vect2 guidance_h_cmd_earth; static void guidance_h_update_reference(void); #if !GUIDANCE_INDI -static void guidance_h_traj_run(bool_t in_flight); +static void guidance_h_traj_run(bool in_flight); #endif static void guidance_h_hover_enter(void); static void guidance_h_nav_enter(void); static inline void transition_run(void); -static void read_rc_setpoint_speed_i(struct Int32Vect2 *speed_sp, bool_t in_flight); +static void read_rc_setpoint_speed_i(struct Int32Vect2 *speed_sp, bool in_flight); #if PERIODIC_TELEMETRY #include "subsystems/datalink/telemetry.h" @@ -292,7 +292,7 @@ void guidance_h_mode_changed(uint8_t new_mode) } -void guidance_h_read_rc(bool_t in_flight) +void guidance_h_read_rc(bool in_flight) { switch (guidance_h.mode) { @@ -352,7 +352,7 @@ void guidance_h_read_rc(bool_t in_flight) } -void guidance_h_run(bool_t in_flight) +void guidance_h_run(bool in_flight) { switch (guidance_h.mode) { @@ -490,7 +490,7 @@ static void guidance_h_update_reference(void) #define GH_GAIN_SCALE 2 #if !GUIDANCE_INDI -static void guidance_h_traj_run(bool_t in_flight) +static void guidance_h_traj_run(bool in_flight) { /* maximum bank angle: default 20 deg, max 40 deg*/ static const int32_t traj_max_bank = Min(BFP_OF_REAL(GUIDANCE_H_MAX_BANK, INT32_ANGLE_FRAC), @@ -600,7 +600,7 @@ static inline void transition_run(void) } /// read speed setpoint from RC -static void read_rc_setpoint_speed_i(struct Int32Vect2 *speed_sp, bool_t in_flight) +static void read_rc_setpoint_speed_i(struct Int32Vect2 *speed_sp, bool in_flight) { if (in_flight) { // negative pitch is forward @@ -636,37 +636,37 @@ void guidance_h_set_igain(uint32_t igain) INT_VECT2_ZERO(guidance_h_trim_att_integrator); } -bool_t guidance_h_set_guided_pos(float x, float y) +bool guidance_h_set_guided_pos(float x, float y) { if (guidance_h.mode == GUIDANCE_H_MODE_GUIDED) { ClearBit(guidance_h.sp.mask, 4); ClearBit(guidance_h.sp.mask, 5); guidance_h.sp.pos.x = POS_BFP_OF_REAL(x); guidance_h.sp.pos.y = POS_BFP_OF_REAL(y); - return TRUE; + return true; } - return FALSE; + return false; } -bool_t guidance_h_set_guided_heading(float heading) +bool guidance_h_set_guided_heading(float heading) { if (guidance_h.mode == GUIDANCE_H_MODE_GUIDED) { ClearBit(guidance_h.sp.mask, 7); guidance_h.sp.heading = ANGLE_BFP_OF_REAL(heading); INT32_ANGLE_NORMALIZE(guidance_h.sp.heading); - return TRUE; + return true; } - return FALSE; + return false; } -bool_t guidance_h_set_guided_vel(float vx, float vy) +bool guidance_h_set_guided_vel(float vx, float vy) { if (guidance_h.mode == GUIDANCE_H_MODE_GUIDED) { SetBit(guidance_h.sp.mask, 4); SetBit(guidance_h.sp.mask, 5); guidance_h.sp.speed.x = SPEED_BFP_OF_REAL(vx); guidance_h.sp.speed.y = SPEED_BFP_OF_REAL(vy); - return TRUE; + return true; } - return FALSE; + return false; } diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h index 22344e3f75..3a592a1e2b 100644 --- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h +++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h @@ -90,8 +90,8 @@ struct HorizontalGuidanceGains { struct HorizontalGuidance { uint8_t mode; /* configuration options */ - bool_t use_ref; - bool_t approx_force_by_thrust; + bool use_ref; + bool approx_force_by_thrust; /* gains */ struct HorizontalGuidanceGains gains; @@ -108,8 +108,8 @@ extern int32_t transition_theta_offset; extern void guidance_h_init(void); extern void guidance_h_mode_changed(uint8_t new_mode); -extern void guidance_h_read_rc(bool_t in_flight); -extern void guidance_h_run(bool_t in_flight); +extern void guidance_h_read_rc(bool in_flight); +extern void guidance_h_run(bool in_flight); extern void guidance_h_set_igain(uint32_t igain); @@ -118,20 +118,20 @@ extern void guidance_h_set_igain(uint32_t igain); * @param y East position (local NED frame) in meters. * @return TRUE if setpoints were set (currently in GUIDANCE_H_MODE_GUIDED) */ -extern bool_t guidance_h_set_guided_pos(float x, float y); +extern bool guidance_h_set_guided_pos(float x, float y); /** Set heading setpoint in GUIDED mode. * @param heading Setpoint in radians. * @return TRUE if setpoint was set (currently in GUIDANCE_H_MODE_GUIDED) */ -extern bool_t guidance_h_set_guided_heading(float heading); +extern bool guidance_h_set_guided_heading(float heading); /** Set horizontal velocity setpoint in GUIDED mode. * @param x North velocity (local NED frame) in meters/sec. * @param y East velocity (local NED frame) in meters/sec. * @return TRUE if setpoints were set (currently in GUIDANCE_H_MODE_GUIDED) */ -extern bool_t guidance_h_set_guided_vel(float vx, float vy); +extern bool guidance_h_set_guided_vel(float vx, float vy); /* Make sure that ref can only be temporarily disabled for testing, * but not enabled if GUIDANCE_H_USE_REF was defined to FALSE. diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c index 1a78882800..e2d3ebe7ae 100644 --- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c +++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c @@ -82,7 +82,7 @@ void guidance_indi_enter(void) { FLOAT_VECT3_ZERO(filt_accel_ned_dd); } -void guidance_indi_run(bool_t in_flight, int32_t heading) { +void guidance_indi_run(bool in_flight, int32_t heading) { //filter accel to get rid of noise //filter attitude to synchronize with accel @@ -184,7 +184,7 @@ void guidance_indi_calcG(struct FloatMat33 *Gmat) { RMAT_ELMT(*Gmat, 2, 2) = cphi*ctheta; } -void stabilization_attitude_set_setpoint_rp_quat_f(bool_t in_flight, int32_t heading) +void stabilization_attitude_set_setpoint_rp_quat_f(bool in_flight, int32_t heading) { struct FloatQuat q_rp_cmd; float_quat_of_eulers(&q_rp_cmd, &guidance_euler_cmd); //TODO this is a quaternion without yaw! add the desired yaw before you use it! diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.h index eeca34b5c7..5eac0f542d 100644 --- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.h +++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.h @@ -35,10 +35,10 @@ #include "math/pprz_algebra_float.h" extern void guidance_indi_enter(void); -extern void guidance_indi_run(bool_t in_flight, int32_t heading); +extern void guidance_indi_run(bool in_flight, int32_t heading); extern void guidance_indi_filter_attitude(void); extern void guidance_indi_calcG(struct FloatMat33 *Gmat); extern void guidance_indi_filter_accel(void); -extern void stabilization_attitude_set_setpoint_rp_quat_f(bool_t in_flight, int32_t heading); +extern void stabilization_attitude_set_setpoint_rp_quat_f(bool in_flight, int32_t heading); #endif /* GUIDANCE_INDI_H */ diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_module.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_module.h index d24eda6d8a..125e6aa2ec 100644 --- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_module.h +++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_module.h @@ -36,12 +36,12 @@ * - void guidance_h_module_init(void); * - void guidance_h_module_enter(void); * - void guidance_h_module_read_rc(void); - * - void guidance_h_module_run(bool_t in_flight); + * - void guidance_h_module_run(bool in_flight); * * * b) Implement own Vertical loops when GUIDANCE_V_MODE_MODULE_SETTING is set to GUIDANCE_V_MODE_MODULE * - void guidance_v_module_enter(void); - * - void guidance_v_module_run(bool_t in_flight); + * - void guidance_v_module_run(bool in_flight); * * If the module implements both V and H mode, take into account that the H is called first and later V * diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c index d11416d693..4f48c23cee 100644 --- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c +++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c @@ -101,8 +101,8 @@ int32_t guidance_v_fb_cmd; int32_t guidance_v_delta_t; float guidance_v_nominal_throttle; -bool_t guidance_v_adapt_throttle_enabled; -bool_t guidance_v_guided_vel_enabled; +bool guidance_v_adapt_throttle_enabled; +bool guidance_v_guided_vel_enabled; /** Direct throttle from radio control. * range 0:#MAX_PPRZ @@ -138,7 +138,7 @@ int32_t guidance_v_thrust_coeff; } static int32_t get_vertical_thrust_coeff(void); -static void run_hover_loop(bool_t in_flight); +static void run_hover_loop(bool in_flight); #if PERIODIC_TELEMETRY #include "subsystems/datalink/telemetry.h" @@ -184,7 +184,7 @@ void guidance_v_init(void) guidance_v_nominal_throttle = GUIDANCE_V_NOMINAL_HOVER_THROTTLE; guidance_v_adapt_throttle_enabled = GUIDANCE_V_ADAPT_THROTTLE_ENABLED; - guidance_v_guided_vel_enabled = FALSE; + guidance_v_guided_vel_enabled = false; gv_adapt_init(); @@ -262,7 +262,7 @@ void guidance_v_mode_changed(uint8_t new_mode) } -void guidance_v_notify_in_flight(bool_t in_flight) +void guidance_v_notify_in_flight(bool in_flight) { if (in_flight) { gv_adapt_init(); @@ -270,7 +270,7 @@ void guidance_v_notify_in_flight(bool_t in_flight) } -void guidance_v_run(bool_t in_flight) +void guidance_v_run(bool in_flight) { // FIXME... SATURATIONS NOT TAKEN INTO ACCOUNT @@ -311,7 +311,7 @@ void guidance_v_run(bool_t in_flight) break; case GUIDANCE_V_MODE_HOVER: - guidance_v_guided_vel_enabled = FALSE; + guidance_v_guided_vel_enabled = false; case GUIDANCE_V_MODE_GUIDED: if (guidance_v_guided_vel_enabled) { gv_update_ref_from_zd_sp(guidance_v_zd_sp, stateGetPositionNed_i()->z); @@ -406,7 +406,7 @@ static int32_t get_vertical_thrust_coeff(void) #define FF_CMD_FRAC 18 -static void run_hover_loop(bool_t in_flight) +static void run_hover_loop(bool in_flight) { /* convert our reference to generic representation */ @@ -460,22 +460,22 @@ static void run_hover_loop(bool_t in_flight) } -bool_t guidance_v_set_guided_z(float z) +bool guidance_v_set_guided_z(float z) { if (guidance_v_mode == GUIDANCE_V_MODE_GUIDED) { - guidance_v_guided_vel_enabled = FALSE; + guidance_v_guided_vel_enabled = false; guidance_v_z_sp = POS_BFP_OF_REAL(z); - return TRUE; + return true; } - return FALSE; + return false; } -bool_t guidance_v_set_guided_vz(float vz) +bool guidance_v_set_guided_vz(float vz) { if (guidance_v_mode == GUIDANCE_V_MODE_GUIDED) { - guidance_v_guided_vel_enabled = TRUE; + guidance_v_guided_vel_enabled = true; guidance_v_zd_sp = SPEED_BFP_OF_REAL(vz); - return TRUE; + return true; } - return FALSE; + return false; } diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h index f38f55046c..3803faee81 100644 --- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h +++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h @@ -92,9 +92,9 @@ extern float guidance_v_nominal_throttle; /** Use adaptive throttle command estimation. */ -extern bool_t guidance_v_adapt_throttle_enabled; +extern bool guidance_v_adapt_throttle_enabled; -extern bool_t guidance_v_guided_vel_enabled; +extern bool guidance_v_guided_vel_enabled; extern int32_t guidance_v_thrust_coeff; @@ -105,20 +105,20 @@ extern int32_t guidance_v_ki; ///< vertical control I-gain extern void guidance_v_init(void); extern void guidance_v_read_rc(void); extern void guidance_v_mode_changed(uint8_t new_mode); -extern void guidance_v_notify_in_flight(bool_t in_flight); -extern void guidance_v_run(bool_t in_flight); +extern void guidance_v_notify_in_flight(bool in_flight); +extern void guidance_v_run(bool in_flight); /** Set z setpoint in GUIDED mode. * @param z Setpoint (down is positive) in meters. * @return TRUE if setpoint was set (currently in GUIDANCE_V_MODE_GUIDED) */ -extern bool_t guidance_v_set_guided_z(float z); +extern bool guidance_v_set_guided_z(float z); /** Set z velocity setpoint in GUIDED mode. * @param vz Setpoint (down is positive) in meters/second. * @return TRUE if setpoint was set (currently in GUIDANCE_V_MODE_GUIDED) */ -extern bool_t guidance_v_set_guided_vz(float vz); +extern bool guidance_v_set_guided_vz(float vz); #define guidance_v_SetKi(_val) { \ guidance_v_ki = _val; \ diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c index 9fad32cb3a..550297dea3 100644 --- a/sw/airborne/firmwares/rotorcraft/main.c +++ b/sw/airborne/firmwares/rotorcraft/main.c @@ -300,14 +300,14 @@ STATIC_INLINE void main_periodic(void) STATIC_INLINE void telemetry_periodic(void) { - static uint8_t boot = TRUE; + static uint8_t boot = true; /* initialisation phase during boot */ if (boot) { #if DOWNLINK send_autopilot_version(&(DefaultChannel).trans_tx, &(DefaultDevice).device); #endif - boot = FALSE; + boot = false; } /* then report periodicly */ else { diff --git a/sw/airborne/firmwares/rotorcraft/main_fbw.c b/sw/airborne/firmwares/rotorcraft/main_fbw.c index 35c758c5a5..a47037c7af 100644 --- a/sw/airborne/firmwares/rotorcraft/main_fbw.c +++ b/sw/airborne/firmwares/rotorcraft/main_fbw.c @@ -152,8 +152,8 @@ STATIC_INLINE void main_periodic(void) intermcu_periodic(); /* Safety logic */ - bool_t ap_lost = (inter_mcu.status == INTERMCU_LOST); - bool_t rc_lost = (radio_control.status == RC_REALLY_LOST); + bool ap_lost = (inter_mcu.status == INTERMCU_LOST); + bool rc_lost = (radio_control.status == RC_REALLY_LOST); if (rc_lost) { if (ap_lost) { // Both are lost @@ -221,7 +221,7 @@ static void autopilot_on_rc_frame(void) /* if manual */ if (fbw_mode == FBW_MODE_MANUAL) { - autopilot_motors_on = TRUE; + autopilot_motors_on = true; #ifdef SetCommandsFromRC SetCommandsFromRC(commands, radio_control.values); #else @@ -238,7 +238,7 @@ static void autopilot_on_ap_command(void) if (fbw_mode != FBW_MODE_MANUAL) { SetCommands(intermcu_commands); } else { - autopilot_motors_on = TRUE; + autopilot_motors_on = true; } } diff --git a/sw/airborne/firmwares/rotorcraft/navigation.c b/sw/airborne/firmwares/rotorcraft/navigation.c index eeeb26f462..0389d22fe4 100644 --- a/sw/airborne/firmwares/rotorcraft/navigation.c +++ b/sw/airborne/firmwares/rotorcraft/navigation.c @@ -64,9 +64,9 @@ const float max_dist_from_home = MAX_DIST_FROM_HOME; const float max_dist2_from_home = MAX_DIST_FROM_HOME * MAX_DIST_FROM_HOME; float failsafe_mode_dist2 = FAILSAFE_MODE_DISTANCE * FAILSAFE_MODE_DISTANCE; float dist2_to_home; -bool_t too_far_from_home; +bool too_far_from_home; -bool_t exception_flag[10] = {0}; //exception flags that can be used in the flight plan +bool exception_flag[10] = {0}; //exception flags that can be used in the flight plan float dist2_to_wp; @@ -78,7 +78,7 @@ int32_t nav_circle_radius, nav_circle_qdr, nav_circle_radians; int32_t nav_leg_progress; uint32_t nav_leg_length; -bool_t nav_survey_active; +bool nav_survey_active; int32_t nav_roll, nav_pitch; int32_t nav_heading; @@ -105,8 +105,8 @@ float flight_altitude; static inline void nav_set_altitude(void); -#define CLOSE_TO_WAYPOINT (15 << 8) -#define CARROT_DIST (12 << 8) +#define CLOSE_TO_WAYPOINT (15 << INT32_POS_FRAC) +#define CARROT_DIST (12 << INT32_POS_FRAC) /** minimum horizontal distance to waypoint to mark as arrived */ #ifndef ARRIVED_AT_WAYPOINT @@ -182,7 +182,7 @@ void nav_init(void) nav_leg_progress = 0; nav_leg_length = 1; - too_far_from_home = FALSE; + too_far_from_home = false; dist2_to_home = 0; dist2_to_wp = 0; @@ -300,7 +300,7 @@ void nav_route(struct EnuCoor_i *wp_start, struct EnuCoor_i *wp_end) dist2_to_wp = get_dist2_to_point(wp_end); } -bool_t nav_approaching_from(struct EnuCoor_i *wp, struct EnuCoor_i *from, int16_t approaching_time) +bool nav_approaching_from(struct EnuCoor_i *wp, struct EnuCoor_i *from, int16_t approaching_time) { int32_t dist_to_point; struct Int32Vect2 diff; @@ -328,7 +328,7 @@ bool_t nav_approaching_from(struct EnuCoor_i *wp, struct EnuCoor_i *from, int16_ /* return TRUE if we have arrived */ if (dist_to_point < BFP_OF_REAL(ARRIVED_AT_WAYPOINT, INT32_POS_FRAC / 2)) { - return TRUE; + return true; } /* if coming from a valid waypoint */ @@ -340,20 +340,20 @@ bool_t nav_approaching_from(struct EnuCoor_i *wp, struct EnuCoor_i *from, int16_ return (diff.x * from_diff.x + diff.y * from_diff.y < 0); } - return FALSE; + return false; } -bool_t nav_check_wp_time(struct EnuCoor_i *wp, uint16_t stay_time) +bool nav_check_wp_time(struct EnuCoor_i *wp, uint16_t stay_time) { uint16_t time_at_wp; uint32_t dist_to_point; static uint16_t wp_entry_time = 0; - static bool_t wp_reached = FALSE; + static bool wp_reached = false; static struct EnuCoor_i wp_last = { 0, 0, 0 }; struct Int32Vect2 diff; if ((wp_last.x != wp->x) || (wp_last.y != wp->y)) { - wp_reached = FALSE; + wp_reached = false; wp_last = *wp; } VECT2_DIFF(diff, *wp, *stateGetPositionEnu_i()); @@ -361,7 +361,7 @@ bool_t nav_check_wp_time(struct EnuCoor_i *wp, uint16_t stay_time) dist_to_point = int32_vect2_norm(&diff); if (dist_to_point < BFP_OF_REAL(ARRIVED_AT_WAYPOINT, INT32_POS_FRAC / 2)) { if (!wp_reached) { - wp_reached = TRUE; + wp_reached = true; wp_entry_time = autopilot_flight_time; time_at_wp = 0; } else { @@ -369,13 +369,13 @@ bool_t nav_check_wp_time(struct EnuCoor_i *wp, uint16_t stay_time) } } else { time_at_wp = 0; - wp_reached = FALSE; + wp_reached = false; } if (time_at_wp > stay_time) { INT_VECT3_ZERO(wp_last); - return TRUE; + return true; } - return FALSE; + return false; } static inline void nav_set_altitude(void) @@ -417,7 +417,7 @@ void nav_periodic_task(void) { RunOnceEvery(NAV_FREQ, { stage_time++; block_time++; }); - nav_survey_active = FALSE; + nav_survey_active = false; dist2_to_wp = 0; @@ -452,14 +452,14 @@ void navigation_update_wp_from_speed(uint8_t wp, struct Int16Vect3 speed_sp, int &(waypoints[wp].enu_i.z))); } -bool_t nav_detect_ground(void) +bool nav_detect_ground(void) { - if (!autopilot_ground_detected) { return FALSE; } - autopilot_ground_detected = FALSE; - return TRUE; + if (!autopilot_ground_detected) { return false; } + autopilot_ground_detected = false; + return true; } -bool_t nav_is_in_flight(void) +bool nav_is_in_flight(void) { return autopilot_in_flight; } @@ -506,21 +506,21 @@ void compute_dist2_to_home(void) } /** Set nav_heading in degrees. */ -bool_t nav_set_heading_rad(float rad) +bool nav_set_heading_rad(float rad) { nav_heading = ANGLE_BFP_OF_REAL(rad); INT32_COURSE_NORMALIZE(nav_heading); - return FALSE; + return false; } /** Set nav_heading in degrees. */ -bool_t nav_set_heading_deg(float deg) +bool nav_set_heading_deg(float deg) { return nav_set_heading_rad(RadOfDeg(deg)); } /** Set heading to point towards x,y position in local coordinates */ -bool_t nav_set_heading_towards(float x, float y) +bool nav_set_heading_towards(float x, float y) { struct FloatVect2 target = {x, y}; struct FloatVect2 pos_diff; @@ -532,18 +532,129 @@ bool_t nav_set_heading_towards(float x, float y) } // return false so it can be called from the flightplan // meaning it will continue to the next stage - return FALSE; + return false; } /** Set heading in the direction of a waypoint */ -bool_t nav_set_heading_towards_waypoint(uint8_t wp) +bool nav_set_heading_towards_waypoint(uint8_t wp) { return nav_set_heading_towards(WaypointX(wp), WaypointY(wp)); } /** Set heading to the current yaw angle */ -bool_t nav_set_heading_current(void) +bool nav_set_heading_current(void) { nav_heading = stateGetNedToBodyEulers_i()->psi; - return FALSE; + return false; +} + +/************** Oval Navigation **********************************************/ + +/** Navigation along a figure O. One side leg is defined by waypoints [p1] and + [p2]. + The navigation goes through 4 states: OC1 (half circle next to [p1]), + OR21 (route [p2] to [p1], OC2 (half circle next to [p2]) and OR12 + (opposite leg). + + Initial state is the route along the desired segment (OC2). +*/ + +#ifndef LINE_START_FUNCTION +#define LINE_START_FUNCTION {} +#endif +#ifndef LINE_STOP_FUNCTION +#define LINE_STOP_FUNCTION {} +#endif + +enum oval_status oval_status; +uint8_t nav_oval_count; + +void nav_oval_init(void) +{ + oval_status = OC2; + nav_oval_count = 0; +} + +void nav_oval(uint8_t p1, uint8_t p2, float radius) +{ + radius = - radius; /* Historical error ? */ + int32_t alt = waypoints[p1].enu_i.z; + waypoints[p2].enu_i.z = alt; + + float p2_p1_x = waypoints[p1].enu_f.x - waypoints[p2].enu_f.x; + float p2_p1_y = waypoints[p1].enu_f.y - waypoints[p2].enu_f.y; + float d = sqrtf(p2_p1_x * p2_p1_x + p2_p1_y * p2_p1_y); + + /* Unit vector from p1 to p2 */ + int32_t u_x = POS_BFP_OF_REAL(p2_p1_x / d); + int32_t u_y = POS_BFP_OF_REAL(p2_p1_y / d); + + /* The half circle centers and the other leg */ + struct EnuCoor_i p1_center = { waypoints[p1].enu_i.x + radius * -u_y, + waypoints[p1].enu_i.y + radius * u_x, + alt + }; + struct EnuCoor_i p1_out = { waypoints[p1].enu_i.x + 2 * radius * -u_y, + waypoints[p1].enu_i.y + 2 * radius * u_x, + alt + }; + + struct EnuCoor_i p2_in = { waypoints[p2].enu_i.x + 2 * radius * -u_y, + waypoints[p2].enu_i.y + 2 * radius * u_x, + alt + }; + struct EnuCoor_i p2_center = { waypoints[p2].enu_i.x + radius * -u_y, + waypoints[p2].enu_i.y + radius * u_x, + alt + }; + + int32_t qdr_out_2 = INT32_ANGLE_PI - int32_atan2_2(u_y, u_x); + int32_t qdr_out_1 = qdr_out_2 + INT32_ANGLE_PI; + if (radius < 0) { + qdr_out_2 += INT32_ANGLE_PI; + qdr_out_1 += INT32_ANGLE_PI; + } + int32_t qdr_anticipation = ANGLE_BFP_OF_REAL(radius > 0 ? -15 : 15); + + switch (oval_status) { + case OC1 : + nav_circle(&p1_center, POS_BFP_OF_REAL(-radius)); + if (NavQdrCloseTo(INT32_DEG_OF_RAD(qdr_out_1) - qdr_anticipation)) { + oval_status = OR12; + InitStage(); + LINE_START_FUNCTION; + } + return; + + case OR12: + nav_route(&p1_out, &p2_in); + if (nav_approaching_from(&p2_in, &p1_out, CARROT)) { + oval_status = OC2; + nav_oval_count++; + InitStage(); + LINE_STOP_FUNCTION; + } + return; + + case OC2 : + nav_circle(&p2_center, POS_BFP_OF_REAL(-radius)); + if (NavQdrCloseTo(INT32_DEG_OF_RAD(qdr_out_2) - qdr_anticipation)) { + oval_status = OR21; + InitStage(); + LINE_START_FUNCTION; + } + return; + + case OR21: + nav_route(&waypoints[p2].enu_i, &waypoints[p1].enu_i); + if (nav_approaching_from(&waypoints[p1].enu_i, &waypoints[p2].enu_i, CARROT)) { + oval_status = OC1; + InitStage(); + LINE_STOP_FUNCTION; + } + return; + + default: /* Should not occur !!! Doing nothing */ + return; + } } diff --git a/sw/airborne/firmwares/rotorcraft/navigation.h b/sw/airborne/firmwares/rotorcraft/navigation.h index e7dfb04702..cacf10767b 100644 --- a/sw/airborne/firmwares/rotorcraft/navigation.h +++ b/sw/airborne/firmwares/rotorcraft/navigation.h @@ -60,7 +60,7 @@ extern float nav_climb_vspeed, nav_descend_vspeed; extern int32_t nav_leg_progress; extern uint32_t nav_leg_length; -extern bool_t nav_survey_active; +extern bool nav_survey_active; extern uint8_t vertical_mode; extern uint32_t nav_throttle; ///< direct throttle from 0:MAX_PPRZ, used in VERTICAL_MODE_MANUAL @@ -71,7 +71,7 @@ extern float flight_altitude; #define VERTICAL_MODE_ALT 2 extern float dist2_to_home; ///< squared distance to home waypoint -extern bool_t too_far_from_home; +extern bool too_far_from_home; extern float failsafe_mode_dist2; ///< maximum squared distance to home wp before going to failsafe mode extern float dist2_to_wp; ///< squared distance to next waypoint @@ -84,33 +84,33 @@ extern void nav_home(void); unit_t nav_reset_reference(void) __attribute__((unused)); unit_t nav_reset_alt(void) __attribute__((unused)); void nav_periodic_task(void); -bool_t nav_detect_ground(void); -bool_t nav_is_in_flight(void); +bool nav_detect_ground(void); +bool nav_is_in_flight(void); -extern bool_t exception_flag[10]; +extern bool exception_flag[10]; extern void set_exception_flag(uint8_t flag_num); -extern bool_t nav_set_heading_rad(float rad); -extern bool_t nav_set_heading_deg(float deg); -extern bool_t nav_set_heading_towards(float x, float y); -extern bool_t nav_set_heading_towards_waypoint(uint8_t wp); -extern bool_t nav_set_heading_current(void); +extern bool nav_set_heading_rad(float rad); +extern bool nav_set_heading_deg(float deg); +extern bool nav_set_heading_towards(float x, float y); +extern bool nav_set_heading_towards_waypoint(uint8_t wp); +extern bool nav_set_heading_current(void); /** default approaching_time for a wp */ #ifndef CARROT #define CARROT 0 #endif -#define NavKillThrottle() ({ if (autopilot_mode == AP_MODE_NAV) { autopilot_set_motors_on(FALSE); } FALSE; }) -#define NavResurrect() ({ if (autopilot_mode == AP_MODE_NAV) { autopilot_set_motors_on(TRUE); } FALSE; }) +#define NavKillThrottle() ({ if (autopilot_mode == AP_MODE_NAV) { autopilot_set_motors_on(FALSE); } false; }) +#define NavResurrect() ({ if (autopilot_mode == AP_MODE_NAV) { autopilot_set_motors_on(TRUE); } false; }) -#define NavSetGroundReferenceHere() ({ nav_reset_reference(); FALSE; }) -#define NavSetAltitudeReferenceHere() ({ nav_reset_alt(); FALSE; }) +#define NavSetGroundReferenceHere() ({ nav_reset_reference(); false; }) +#define NavSetAltitudeReferenceHere() ({ nav_reset_alt(); false; }) -#define NavSetWaypointHere(_wp) ({ waypoint_set_here_2d(_wp); FALSE; }) -#define NavCopyWaypoint(_wp1, _wp2) ({ waypoint_copy(_wp1, _wp2); FALSE; }) -#define NavCopyWaypointPositionOnly(_wp1, _wp2) ({ waypoint_position_copy(_wp1, _wp2); FALSE; }) +#define NavSetWaypointHere(_wp) ({ waypoint_set_here_2d(_wp); false; }) +#define NavCopyWaypoint(_wp1, _wp2) ({ waypoint_copy(_wp1, _wp2); false; }) +#define NavCopyWaypointPositionOnly(_wp1, _wp2) ({ waypoint_position_copy(_wp1, _wp2); false; }) /** Normalize a degree angle between 0 and 359 */ #define NormCourse(x) { \ @@ -133,12 +133,20 @@ extern void nav_circle(struct EnuCoor_i *wp_center, int32_t radius); } #define NavCircleCount() ((float)abs(nav_circle_radians) / INT32_ANGLE_2_PI) -#define NavCircleQdr() ({ int32_t qdr = INT32_DEG_OF_RAD(INT32_ANGLE_2_PI_2 - nav_circle_qdr) >> INT32_ANGLE_FRAC; NormCourse(qdr); qdr; }) +#define NavCircleQdr() ({ int32_t qdr = INT32_DEG_OF_RAD(INT32_ANGLE_PI_2 - nav_circle_qdr) >> INT32_ANGLE_FRAC; NormCourse(qdr); qdr; }) +#define CloseDegAngles(_c1, _c2) ({ int32_t _diff = _c1 - _c2; NormCourse(_diff); 350 < _diff || _diff < 10; }) /** True if x (in degrees) is close to the current QDR (less than 10 degrees)*/ -#define NavQdrCloseTo(x) {} +#define NavQdrCloseTo(x) CloseDegAngles(((x) >> INT32_ANGLE_FRAC), NavCircleQdr()) #define NavCourseCloseTo(x) {} +enum oval_status { OR12, OC2, OR21, OC1 }; + +extern void nav_oval_init(void); +extern void nav_oval(uint8_t, uint8_t, float); +extern uint8_t nav_oval_count; +#define Oval(a, b, c) nav_oval((b), (a), (c)) + /*********** Navigation along a line *************************************/ extern void nav_route(struct EnuCoor_i *wp_start, struct EnuCoor_i *wp_end); #define NavSegment(_start, _end) { \ @@ -155,12 +163,12 @@ extern void nav_route(struct EnuCoor_i *wp_start, struct EnuCoor_i *wp_end); } /** Proximity tests on approaching a wp */ -bool_t nav_approaching_from(struct EnuCoor_i *wp, struct EnuCoor_i *from, int16_t approaching_time); +bool nav_approaching_from(struct EnuCoor_i *wp, struct EnuCoor_i *from, int16_t approaching_time); #define NavApproaching(wp, time) nav_approaching_from(&waypoints[wp].enu_i, NULL, time) #define NavApproachingFrom(wp, from, time) nav_approaching_from(&waypoints[wp].enu_i, &waypoints[from].enu_i, time) /** Check the time spent in a radius of 'ARRIVED_AT_WAYPOINT' around a wp */ -bool_t nav_check_wp_time(struct EnuCoor_i *wp, uint16_t stay_time); +bool nav_check_wp_time(struct EnuCoor_i *wp, uint16_t stay_time); #define NavCheckWaypointTime(wp, time) nav_check_wp_time(&waypoints[wp].enu_i, time) /** Set the climb control to auto-throttle with the specified pitch @@ -200,7 +208,7 @@ bool_t nav_check_wp_time(struct EnuCoor_i *wp, uint16_t stay_time); nav_roll = ANGLE_BFP_OF_REAL(_roll); \ } -#define NavStartDetectGround() ({ autopilot_detect_ground_once = TRUE; FALSE; }) +#define NavStartDetectGround() ({ autopilot_detect_ground_once = true; false; }) #define NavDetectGround() nav_detect_ground() #define nav_IncreaseShift(x) {} diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude.h index 8faecf40e2..6fe498da21 100644 --- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude.h +++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude.h @@ -32,12 +32,12 @@ #include STABILIZATION_ATTITUDE_TYPE_H extern void stabilization_attitude_init(void); -extern void stabilization_attitude_read_rc(bool_t in_flight, bool_t in_carefree, bool_t coordinated_turn); +extern void stabilization_attitude_read_rc(bool in_flight, bool in_carefree, bool coordinated_turn); extern void stabilization_attitude_enter(void); extern void stabilization_attitude_set_failsafe_setpoint(void); extern void stabilization_attitude_set_rpy_setpoint_i(struct Int32Eulers *rpy); extern void stabilization_attitude_set_earth_cmd_i(struct Int32Vect2 *cmd, int32_t heading); -extern void stabilization_attitude_run(bool_t in_flight); +extern void stabilization_attitude_run(bool in_flight); #endif /* STABILIZATION_ATTITUDE_H */ diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c index a22cdadc90..a1f223ef56 100644 --- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c +++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c @@ -128,7 +128,7 @@ void stabilization_attitude_init(void) #endif } -void stabilization_attitude_read_rc(bool_t in_flight, bool_t in_carefree, bool_t coordinated_turn) +void stabilization_attitude_read_rc(bool in_flight, bool in_carefree, bool coordinated_turn) { stabilization_attitude_read_rc_setpoint_eulers_f(&stab_att_sp_euler, in_flight, in_carefree, coordinated_turn); } @@ -173,7 +173,7 @@ void stabilization_attitude_set_earth_cmd_i(struct Int32Vect2 *cmd, int32_t head #define MAX_SUM_ERR 200 -void stabilization_attitude_run(bool_t in_flight) +void stabilization_attitude_run(bool in_flight) { #if USE_ATT_REF diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c index c1bb520681..064492a1c6 100644 --- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c +++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c @@ -153,7 +153,7 @@ void stabilization_attitude_init(void) #endif } -void stabilization_attitude_read_rc(bool_t in_flight, bool_t in_carefree, bool_t coordinated_turn) +void stabilization_attitude_read_rc(bool in_flight, bool in_carefree, bool coordinated_turn) { stabilization_attitude_read_rc_setpoint_eulers(&stab_att_sp_euler, in_flight, in_carefree, coordinated_turn); } @@ -194,7 +194,7 @@ void stabilization_attitude_set_earth_cmd_i(struct Int32Vect2 *cmd, int32_t head #define MAX_SUM_ERR 4000000 -void stabilization_attitude_run(bool_t in_flight) +void stabilization_attitude_run(bool in_flight) { /* update reference */ diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_passthrough.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_passthrough.c index d5ec9ffeb7..1fa401d10f 100644 --- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_passthrough.c +++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_passthrough.c @@ -46,7 +46,7 @@ void stabilization_attitude_init(void) INT_EULERS_ZERO(stab_att_sp_euler); } -void stabilization_attitude_read_rc(bool_t in_flight, bool_t in_carefree, bool_t coordinated_turn) +void stabilization_attitude_read_rc(bool in_flight, bool in_carefree, bool coordinated_turn) { //Read from RC stabilization_attitude_read_rc_setpoint_eulers(&stab_att_sp_euler, in_flight, in_carefree, coordinated_turn); @@ -57,7 +57,7 @@ void stabilization_attitude_enter(void) } -void stabilization_attitude_run(bool_t in_flight __attribute__((unused))) +void stabilization_attitude_run(bool in_flight __attribute__((unused))) { /* For roll and pitch we pass trough the desired angles as stabilization command */ diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c index b21c32e2dc..fb0f207601 100644 --- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c +++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c @@ -292,7 +292,7 @@ static void attitude_run_fb(float fb_commands[], struct FloatAttitudeGains *gain #endif } -void stabilization_attitude_run(bool_t enable_integrator) +void stabilization_attitude_run(bool enable_integrator) { /* @@ -358,7 +358,7 @@ void stabilization_attitude_run(bool_t enable_integrator) BoundAbs(stabilization_cmd[COMMAND_YAW], MAX_PPRZ); } -void stabilization_attitude_read_rc(bool_t in_flight, bool_t in_carefree, bool_t coordinated_turn) +void stabilization_attitude_read_rc(bool in_flight, bool in_carefree, bool coordinated_turn) { stabilization_attitude_read_rc_setpoint_quat_f(&stab_att_sp_quat, in_flight, in_carefree, coordinated_turn); diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_indi.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_indi.c index 82fb77d1ea..d171907d46 100644 --- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_indi.c +++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_indi.c @@ -57,12 +57,12 @@ void stabilization_attitude_set_earth_cmd_i(struct Int32Vect2 *cmd, int32_t head stabilization_indi_set_earth_cmd_i(cmd, heading); } -void stabilization_attitude_run(bool_t enable_integrator) +void stabilization_attitude_run(bool enable_integrator) { stabilization_indi_run(enable_integrator, FALSE); } -void stabilization_attitude_read_rc(bool_t in_flight, bool_t in_carefree, bool_t coordinated_turn) +void stabilization_attitude_read_rc(bool in_flight, bool in_carefree, bool coordinated_turn) { stabilization_indi_read_rc(in_flight, in_carefree, coordinated_turn); } diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c index ba3069cb71..ef97ae0081 100644 --- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c +++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c @@ -227,7 +227,7 @@ static void attitude_run_fb(int32_t fb_commands[], struct Int32AttitudeGains *ga } -void stabilization_attitude_run(bool_t enable_integrator) +void stabilization_attitude_run(bool enable_integrator) { /* @@ -291,7 +291,7 @@ void stabilization_attitude_run(bool_t enable_integrator) BoundAbs(stabilization_cmd[COMMAND_YAW], MAX_PPRZ); } -void stabilization_attitude_read_rc(bool_t in_flight, bool_t in_carefree, bool_t coordinated_turn) +void stabilization_attitude_read_rc(bool in_flight, bool in_carefree, bool coordinated_turn) { struct FloatQuat q_sp; #if USE_EARTH_BOUND_RC_SETPOINT diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.c index 5f275665fb..7e1f3c1ea0 100644 --- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.c +++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.c @@ -161,8 +161,8 @@ float stabilization_attitude_get_heading_f(void) * @param[in] in_flight true if in flight * @param[out] sp attitude setpoint as euler angles */ -void stabilization_attitude_read_rc_setpoint_eulers(struct Int32Eulers *sp, bool_t in_flight, bool_t in_carefree, - bool_t coordinated_turn) +void stabilization_attitude_read_rc_setpoint_eulers(struct Int32Eulers *sp, bool in_flight, bool in_carefree, + bool coordinated_turn) { /* last time this function was called, used to calculate yaw setpoint update */ static float last_ts = 0.f; @@ -241,8 +241,8 @@ void stabilization_attitude_read_rc_setpoint_eulers(struct Int32Eulers *sp, bool } -void stabilization_attitude_read_rc_setpoint_eulers_f(struct FloatEulers *sp, bool_t in_flight, bool_t in_carefree, - bool_t coordinated_turn) +void stabilization_attitude_read_rc_setpoint_eulers_f(struct FloatEulers *sp, bool in_flight, bool in_carefree, + bool coordinated_turn) { /* last time this function was called, used to calculate yaw setpoint update */ static float last_ts = 0.f; @@ -364,8 +364,8 @@ void stabilization_attitude_read_rc_roll_pitch_earth_quat_f(struct FloatQuat *q) * @param[in] in_flight true if in flight * @param[out] q_sp attitude setpoint as quaternion */ -void stabilization_attitude_read_rc_setpoint_quat_f(struct FloatQuat *q_sp, bool_t in_flight, bool_t in_carefree, - bool_t coordinated_turn) +void stabilization_attitude_read_rc_setpoint_quat_f(struct FloatQuat *q_sp, bool in_flight, bool in_carefree, + bool coordinated_turn) { // FIXME: remove me, do in quaternion directly @@ -417,8 +417,8 @@ void stabilization_attitude_read_rc_setpoint_quat_f(struct FloatQuat *q_sp, bool } //Function that reads the rc setpoint in an earth bound frame -void stabilization_attitude_read_rc_setpoint_quat_earth_bound_f(struct FloatQuat *q_sp, bool_t in_flight, - bool_t in_carefree, bool_t coordinated_turn) +void stabilization_attitude_read_rc_setpoint_quat_earth_bound_f(struct FloatQuat *q_sp, bool in_flight, + bool in_carefree, bool coordinated_turn) { // FIXME: remove me, do in quaternion directly // is currently still needed, since the yaw setpoint integration is done in eulers diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h index 80a5834df8..af7726b7ff 100644 --- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h +++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h @@ -33,15 +33,15 @@ extern void stabilization_attitude_reset_care_free_heading(void); extern int32_t stabilization_attitude_get_heading_i(void); extern float stabilization_attitude_get_heading_f(void); -extern void stabilization_attitude_read_rc_setpoint_eulers(struct Int32Eulers *sp, bool_t in_flight, bool_t in_carefree, - bool_t coordinated_turn); -extern void stabilization_attitude_read_rc_setpoint_eulers_f(struct FloatEulers *sp, bool_t in_flight, - bool_t in_carefree, bool_t coordinated_turn); +extern void stabilization_attitude_read_rc_setpoint_eulers(struct Int32Eulers *sp, bool in_flight, bool in_carefree, + bool coordinated_turn); +extern void stabilization_attitude_read_rc_setpoint_eulers_f(struct FloatEulers *sp, bool in_flight, + bool in_carefree, bool coordinated_turn); extern void stabilization_attitude_read_rc_roll_pitch_quat_f(struct FloatQuat *q); extern void stabilization_attitude_read_rc_roll_pitch_earth_quat_f(struct FloatQuat *q); -extern void stabilization_attitude_read_rc_setpoint_quat_f(struct FloatQuat *q_sp, bool_t in_flight, bool_t in_carefree, - bool_t coordinated_turn); -extern void stabilization_attitude_read_rc_setpoint_quat_earth_bound_f(struct FloatQuat *q_sp, bool_t in_flight, - bool_t in_carefree, bool_t coordinated_turn); +extern void stabilization_attitude_read_rc_setpoint_quat_f(struct FloatQuat *q_sp, bool in_flight, bool in_carefree, + bool coordinated_turn); +extern void stabilization_attitude_read_rc_setpoint_quat_earth_bound_f(struct FloatQuat *q_sp, bool in_flight, + bool in_carefree, bool coordinated_turn); #endif /* STABILIZATION_ATTITUDE_RC_SETPOINT_H */ diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c index 9f7c356da5..dc283914c4 100644 --- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c +++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c @@ -21,12 +21,13 @@ */ /** @file stabilization_attitude_quat_indi.c - * MAVLab Delft University of Technology + * @brief MAVLab Delft University of Technology * This control algorithm is Incremental Nonlinear Dynamic Inversion (INDI) * - * This is a simplified implementation of the (soon to be) publication in the + * This is a simplified implementation of the publication in the * journal of Control Guidance and Dynamics: Adaptive Incremental Nonlinear * Dynamic Inversion for Attitude Control of Micro Aerial Vehicles + * http://arc.aiaa.org/doi/pdf/10.2514/1.G001490 */ #include "firmwares/rotorcraft/stabilization/stabilization_indi.h" @@ -43,6 +44,8 @@ #error You have to define the first order time constant of the actuator dynamics! #endif +// these parameters are used in the filtering of the angular acceleration +// define them in the airframe file if different values are required #ifndef STABILIZATION_INDI_FILT_OMEGA #define STABILIZATION_INDI_FILT_OMEGA 50.0 #endif @@ -51,6 +54,7 @@ #define STABILIZATION_INDI_FILT_ZETA 0.55 #endif +// the yaw sometimes requires more filtering #ifndef STABILIZATION_INDI_FILT_OMEGA_R #define STABILIZATION_INDI_FILT_OMEGA_R STABILIZATION_INDI_FILT_OMEGA #endif @@ -71,7 +75,7 @@ struct Int32Eulers stab_att_sp_euler; struct Int32Quat stab_att_sp_quat; static int32_t stabilization_att_indi_cmd[COMMANDS_NB]; -static inline void stabilization_indi_calc_cmd(int32_t indi_commands[], struct Int32Quat *att_err, bool_t rate_control); +static inline void stabilization_indi_calc_cmd(int32_t indi_commands[], struct Int32Quat *att_err, bool rate_control); static void stabilization_indi_second_order_filter_init(struct IndiFilter *filter, float omega, float zeta, float omega_r); static void stabilization_indi_second_order_filter(struct IndiFilter *filter, struct FloatRates *input); static inline void lms_estimation(void); @@ -196,7 +200,7 @@ void stabilization_indi_set_earth_cmd_i(struct Int32Vect2 *cmd, int32_t heading) quat_from_earth_cmd_i(&stab_att_sp_quat, cmd, heading); } -static inline void stabilization_indi_calc_cmd(int32_t indi_commands[], struct Int32Quat *att_err, bool_t rate_control) +static inline void stabilization_indi_calc_cmd(int32_t indi_commands[], struct Int32Quat *att_err, bool rate_control) { /* Propagate the second order filter on the gyroscopes */ struct FloatRates *body_rates = stateGetBodyRates_f(); @@ -231,8 +235,8 @@ static inline void stabilization_indi_calc_cmd(int32_t indi_commands[], struct I indi.angular_accel_ref.r = indi.reference_acceleration.rate_r * ((float)radio_control.values[RADIO_YAW] / MAX_PPRZ * indi.max_rate - body_rates->r); } - //Incremented in angular acceleration requires increment in control input - //G1 is the actuator effectiveness. In the yaw axis, we need something additional: G2. + //Increment in angular acceleration requires increment in control input + //G1 is the control effectiveness. In the yaw axis, we need something additional: G2. //It takes care of the angular acceleration caused by the change in rotation rate of the propellers //(they have significant inertia, see the paper mentioned in the header for more explanation) indi.du.p = 1.0 / indi.g1.p * (indi.angular_accel_ref.p - indi.rate.dx.p); @@ -259,6 +263,8 @@ static inline void stabilization_indi_calc_cmd(int32_t indi_commands[], struct I stabilization_indi_second_order_filter(&indi.u, &indi.u_act_dyn); //Don't increment if thrust is off + //TODO: this should be something more elegant, but without this the inputs will increment to the maximum before + //even getting in the air. if (stabilization_cmd[COMMAND_THRUST] < 300) { FLOAT_RATES_ZERO(indi.du); FLOAT_RATES_ZERO(indi.u_act_dyn); @@ -267,6 +273,7 @@ static inline void stabilization_indi_calc_cmd(int32_t indi_commands[], struct I FLOAT_RATES_ZERO(indi.u.dx); FLOAT_RATES_ZERO(indi.u.ddx); } else { + // only run the estimation if the commands are not zero. lms_estimation(); } @@ -276,7 +283,7 @@ static inline void stabilization_indi_calc_cmd(int32_t indi_commands[], struct I indi_commands[COMMAND_YAW] = indi.u_in.r; } -void stabilization_indi_run(bool_t enable_integrator __attribute__((unused)), bool_t rate_control) +void stabilization_indi_run(bool enable_integrator __attribute__((unused)), bool rate_control) { /* attitude error */ struct Int32Quat att_err; @@ -301,7 +308,7 @@ void stabilization_indi_run(bool_t enable_integrator __attribute__((unused)), bo } // This function reads rc commands -void stabilization_indi_read_rc(bool_t in_flight, bool_t in_carefree, bool_t coordinated_turn) +void stabilization_indi_read_rc(bool in_flight, bool in_carefree, bool coordinated_turn) { struct FloatQuat q_sp; #if USE_EARTH_BOUND_RC_SETPOINT diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.h index 4b0d1bad87..c703f50de8 100644 --- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.h +++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.h @@ -81,7 +81,7 @@ struct IndiVariables { struct ReferenceSystem reference_acceleration; - bool_t adaptive; ///< Enable adataptive estimation + bool adaptive; ///< Enable adataptive estimation float max_rate; ///< Maximum rate in rate control struct IndiEstimation est; ///< Estimation parameters for adaptive INDI }; @@ -93,8 +93,8 @@ extern void stabilization_indi_enter(void); extern void stabilization_indi_set_failsafe_setpoint(void); extern void stabilization_indi_set_rpy_setpoint_i(struct Int32Eulers *rpy); extern void stabilization_indi_set_earth_cmd_i(struct Int32Vect2 *cmd, int32_t heading); -extern void stabilization_indi_run(bool_t enable_integrator, bool_t rate_control); -extern void stabilization_indi_read_rc(bool_t in_flight, bool_t in_carefree, bool_t coordinated_turn); +extern void stabilization_indi_run(bool enable_integrator, bool rate_control); +extern void stabilization_indi_read_rc(bool in_flight, bool in_carefree, bool coordinated_turn); #endif /* STABILIZATION_INDI_H */ diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_none.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_none.c index a3aca85b22..b300c0584f 100644 --- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_none.c +++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_none.c @@ -52,7 +52,7 @@ void stabilization_none_enter(void) INT_RATES_ZERO(stabilization_none_rc_cmd); } -void stabilization_none_run(bool_t in_flight __attribute__((unused))) +void stabilization_none_run(bool in_flight __attribute__((unused))) { /* just directly pass rc commands through */ stabilization_cmd[COMMAND_ROLL] = stabilization_none_rc_cmd.p; diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_none.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_none.h index 07ddd22aca..0b41b971e1 100644 --- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_none.h +++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_none.h @@ -33,7 +33,7 @@ extern void stabilization_none_init(void); extern void stabilization_none_read_rc(void); -extern void stabilization_none_run(bool_t in_flight); +extern void stabilization_none_run(bool in_flight); extern void stabilization_none_enter(void); extern struct Int32Rates stabilization_none_rc_cmd; diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c index 9316a00bfe..dfac8bbe7e 100644 --- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c +++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c @@ -184,7 +184,7 @@ void stabilization_rate_enter(void) INT_RATES_ZERO(stabilization_rate_sum_err); } -void stabilization_rate_run(bool_t in_flight) +void stabilization_rate_run(bool in_flight) { /* compute feed-back command */ struct Int32Rates _error; diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.h index 5263e4dd31..608b0b0bfa 100644 --- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.h +++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.h @@ -33,7 +33,7 @@ extern void stabilization_rate_init(void); extern void stabilization_rate_read_rc(void); extern void stabilization_rate_read_rc_switched_sticks(void); -extern void stabilization_rate_run(bool_t in_flight); +extern void stabilization_rate_run(bool in_flight); extern void stabilization_rate_enter(void); extern struct Int32Rates stabilization_rate_sp; diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate_indi.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate_indi.c index 7b25db30b8..195e24139b 100644 --- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate_indi.c +++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate_indi.c @@ -48,7 +48,7 @@ void stabilization_rate_enter(void) stabilization_indi_enter(); } -void stabilization_rate_run(bool_t in_flight) +void stabilization_rate_run(bool in_flight) { stabilization_indi_run(in_flight, TRUE); } diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate_indi.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate_indi.h index 2fa0e919bf..64fad42cdf 100644 --- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate_indi.h +++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate_indi.h @@ -31,7 +31,7 @@ extern void stabilization_rate_init(void); extern void stabilization_rate_read_rc(void); extern void stabilization_rate_read_rc_switched_sticks(void); -extern void stabilization_rate_run(bool_t in_flight); +extern void stabilization_rate_run(bool in_flight); extern void stabilization_rate_enter(void); #endif /* STABILIZATION_RATE_INDI */ diff --git a/sw/airborne/firmwares/tutorial/main_demo5.c b/sw/airborne/firmwares/tutorial/main_demo5.c index ea56b03cab..34fc19d8f8 100644 --- a/sw/airborne/firmwares/tutorial/main_demo5.c +++ b/sw/airborne/firmwares/tutorial/main_demo5.c @@ -46,19 +46,19 @@ static inline void main_event_task(void) ReadPprzBuffer(); if (pprz_msg_received) { pprz_parse_payload(); - pprz_msg_received = FALSE; + pprz_msg_received = false; } } if (dl_msg_available) { main_dl_parse_msg(); - dl_msg_available = FALSE; + dl_msg_available = false; LED_TOGGLE(1); } } uint16_t foo; -bool_t dl_msg_available; +bool dl_msg_available; #define MSG_SIZE 128 uint8_t dl_buffer[MSG_SIZE] __attribute__((aligned)); diff --git a/sw/airborne/firmwares/wind_tunnel/main.c b/sw/airborne/firmwares/wind_tunnel/main.c index ee1d7606ea..7f121c345c 100644 --- a/sw/airborne/firmwares/wind_tunnel/main.c +++ b/sw/airborne/firmwares/wind_tunnel/main.c @@ -23,7 +23,7 @@ static inline void main_event_task(void); uint16_t motor_power; uint8_t dl_buffer[MSG_SIZE] __attribute__((aligned)); -bool_t dl_msg_available; +bool dl_msg_available; uint16_t datalink_time; int main(void) @@ -70,7 +70,7 @@ static inline void main_event_task(void) // spi baro if (spi_message_received) { /* Got a message on SPI. */ - spi_message_received = FALSE; + spi_message_received = false; wt_baro_event(); uint16_t temp = 0; float alt = 0.; diff --git a/sw/airborne/firmwares/wind_tunnel/main_mb.c b/sw/airborne/firmwares/wind_tunnel/main_mb.c index 48cd7172a2..ff7122cf1a 100644 --- a/sw/airborne/firmwares/wind_tunnel/main_mb.c +++ b/sw/airborne/firmwares/wind_tunnel/main_mb.c @@ -22,7 +22,7 @@ static inline void main_event_task(void); //uint16_t motor_power; uint8_t dl_buffer[MSG_SIZE] __attribute__((aligned)); -bool_t dl_msg_available; +bool dl_msg_available; uint16_t datalink_time; int main(void) diff --git a/sw/airborne/firmwares/wind_tunnel/wt_baro.c b/sw/airborne/firmwares/wind_tunnel/wt_baro.c index 92d5d2ed91..bf74ccf75b 100644 --- a/sw/airborne/firmwares/wind_tunnel/wt_baro.c +++ b/sw/airborne/firmwares/wind_tunnel/wt_baro.c @@ -29,9 +29,9 @@ #include "spi.h" uint32_t wt_baro_pressure; -bool_t wt_baro_available; +bool wt_baro_available; -static bool_t status_read_data; +static bool status_read_data; #define CMD_INIT_1 0x24 // set chanel AIN1/AIN2 and next operation on filter high #define CMD_INIT_2 0xCF // set unipolar mode, 24 bits, no boost, filter high @@ -71,8 +71,8 @@ void wt_baro_init(void) send1_on_spi(CMD_INIT_5); send1_on_spi(CMD_INIT_6); - status_read_data = FALSE; - wt_baro_available = FALSE; + status_read_data = false; + wt_baro_available = false; } @@ -110,7 +110,7 @@ void wt_baro_event(void) data = Uint24(buf_input); /* Compute pressure */ wt_baro_pressure = data; - wt_baro_available = TRUE; + wt_baro_available = true; } /* else nothing to read */ status_read_data = !status_read_data; diff --git a/sw/airborne/firmwares/wind_tunnel/wt_baro.h b/sw/airborne/firmwares/wind_tunnel/wt_baro.h index eae620f47c..804b189e96 100644 --- a/sw/airborne/firmwares/wind_tunnel/wt_baro.h +++ b/sw/airborne/firmwares/wind_tunnel/wt_baro.h @@ -30,7 +30,7 @@ extern uint8_t buf_input[3]; extern uint8_t buf_output[3]; -extern bool_t wt_baro_available; +extern bool wt_baro_available; extern uint32_t wt_baro_pressure; extern void wt_baro_init(void); diff --git a/sw/airborne/inter_mcu.c b/sw/airborne/inter_mcu.c index 09b463da87..235fd01948 100644 --- a/sw/airborne/inter_mcu.c +++ b/sw/airborne/inter_mcu.c @@ -37,11 +37,11 @@ struct fbw_state *fbw_state = &link_mcu_from_fbw_msg.payload.from_fbw; struct ap_state *ap_state = &link_mcu_from_ap_msg.payload.from_ap; #endif /* ! SINGLE_MCU */ -volatile bool_t inter_mcu_received_fbw = FALSE; -volatile bool_t inter_mcu_received_ap = FALSE; +volatile bool inter_mcu_received_fbw = false; +volatile bool inter_mcu_received_ap = false; #ifdef FBW /** Variables for monitoring AP communication status */ -bool_t ap_ok; +bool ap_ok; uint8_t time_since_last_ap; #endif diff --git a/sw/airborne/inter_mcu.h b/sw/airborne/inter_mcu.h index 25a7e32ebf..cda7252e06 100644 --- a/sw/airborne/inter_mcu.h +++ b/sw/airborne/inter_mcu.h @@ -78,14 +78,14 @@ struct ap_state { extern struct fbw_state *fbw_state; extern struct ap_state *ap_state; -extern volatile bool_t inter_mcu_received_fbw; -extern volatile bool_t inter_mcu_received_ap; +extern volatile bool inter_mcu_received_fbw; +extern volatile bool inter_mcu_received_ap; #ifdef FBW extern uint8_t time_since_last_ap; -extern bool_t ap_ok; +extern bool ap_ok; #define AP_STALLED_TIME 30 // 500ms with a 60Hz timer @@ -95,7 +95,7 @@ static inline void inter_mcu_init(void) fbw_state->status = 0; fbw_state->nb_err = 0; - ap_ok = FALSE; + ap_ok = false; } @@ -127,7 +127,7 @@ static inline void inter_mcu_fill_fbw_state(void) fbw_state->energy = electrical.energy; #if defined SINGLE_MCU /**Directly set the flag indicating to AP that shared buffer is available*/ - inter_mcu_received_fbw = TRUE; + inter_mcu_received_fbw = true; #endif } @@ -135,14 +135,14 @@ static inline void inter_mcu_fill_fbw_state(void) static inline void inter_mcu_event_task(void) { time_since_last_ap = 0; - ap_ok = TRUE; + ap_ok = true; } /** Monitors AP. Set ::ap_ok to false if AP is down for a long time. */ static inline void inter_mcu_periodic_task(void) { if (time_since_last_ap >= AP_STALLED_TIME) { - ap_ok = FALSE; + ap_ok = false; #ifdef SINGLE_MCU // Keep filling the buffer even if no AP commands are received inter_mcu_fill_fbw_state(); diff --git a/sw/airborne/link_mcu_can.c b/sw/airborne/link_mcu_can.c index 942bc4b5d0..8cb21b805f 100644 --- a/sw/airborne/link_mcu_can.c +++ b/sw/airborne/link_mcu_can.c @@ -71,7 +71,7 @@ void link_mcu_on_can_msg(uint32_t id, uint8_t *data, int len) #ifdef LINK_MCU_LED LED_TOGGLE(LINK_MCU_LED); #endif - inter_mcu_received_ap = TRUE; + inter_mcu_received_ap = true; } if (id == MSG_INTERMCU_COMMAND_EXTRA_ID) { @@ -108,7 +108,7 @@ void link_mcu_on_can_msg(uint32_t id, uint8_t *data, int len) #ifdef LINK_MCU_LED LED_TOGGLE(LINK_MCU_LED); #endif - inter_mcu_received_fbw = TRUE; + inter_mcu_received_fbw = true; } } diff --git a/sw/airborne/link_mcu_can.h b/sw/airborne/link_mcu_can.h index 6cab3833d7..82aa28b581 100644 --- a/sw/airborne/link_mcu_can.h +++ b/sw/airborne/link_mcu_can.h @@ -40,7 +40,7 @@ struct link_mcu_msg { extern struct link_mcu_msg link_mcu_from_ap_msg; extern struct link_mcu_msg link_mcu_from_fbw_msg; -extern bool_t link_mcu_received; +extern bool link_mcu_received; extern void link_mcu_send(void); extern void link_mcu_init(void); diff --git a/sw/airborne/link_mcu_spi.c b/sw/airborne/link_mcu_spi.c index 88a48a90b6..b573d4eff0 100644 --- a/sw/airborne/link_mcu_spi.c +++ b/sw/airborne/link_mcu_spi.c @@ -31,7 +31,7 @@ struct link_mcu_msg link_mcu_from_fbw_msg; struct spi_transaction link_mcu_trans; -bool_t link_mcu_received; +bool link_mcu_received; static uint16_t crc = 0; @@ -79,16 +79,16 @@ void link_mcu_event_task(void) /* A message has been received */ ComputeChecksum(link_mcu_from_ap_msg); - link_mcu_received = TRUE; + link_mcu_received = true; if (link_mcu_from_ap_msg.checksum == crc) { - inter_mcu_received_ap = TRUE; + inter_mcu_received_ap = true; } else { fbw_state->nb_err++; } } if (link_mcu_trans.status == SPITransFailed) { link_mcu_trans.status = SPITransDone; - link_mcu_received = TRUE; + link_mcu_received = true; fbw_state->nb_err++; } } @@ -153,14 +153,14 @@ void link_mcu_event_task(void) /* A message has been received */ ComputeChecksum(link_mcu_from_fbw_msg); if (link_mcu_from_fbw_msg.checksum == crc) { - inter_mcu_received_fbw = TRUE; + inter_mcu_received_fbw = true; } else { link_mcu_nb_err++; } } if (link_mcu_trans.status == SPITransFailed) { link_mcu_trans.status = SPITransDone; - link_mcu_received = TRUE; + link_mcu_received = true; link_mcu_nb_err++; } } diff --git a/sw/airborne/link_mcu_spi.h b/sw/airborne/link_mcu_spi.h index 9967bc5f71..5eeff0b527 100644 --- a/sw/airborne/link_mcu_spi.h +++ b/sw/airborne/link_mcu_spi.h @@ -48,7 +48,7 @@ extern struct link_mcu_msg link_mcu_from_fbw_msg; extern struct spi_transaction link_mcu_trans; -extern bool_t link_mcu_received; +extern bool link_mcu_received; extern void link_mcu_init(void); extern void link_mcu_event_task(void); diff --git a/sw/airborne/link_mcu_usart.c b/sw/airborne/link_mcu_usart.c index a9189e7cbe..067e2e5d46 100644 --- a/sw/airborne/link_mcu_usart.c +++ b/sw/airborne/link_mcu_usart.c @@ -140,7 +140,7 @@ #define INTERMCU_MAX_PAYLOAD 255 struct InterMcuData { - bool_t msg_available; + bool msg_available; uint8_t msg_buf[INTERMCU_MAX_PAYLOAD] __attribute__((aligned)); uint8_t msg_id; uint8_t msg_class; @@ -218,7 +218,7 @@ void intermcu_parse(uint8_t c) if (c != intermcu_data.ck_b) { goto error; } - intermcu_data.msg_available = TRUE; + intermcu_data.msg_available = true; goto restart; break; default: @@ -283,7 +283,7 @@ static void send_fbw_status(struct transport_tx *trans, struct link_device *dev) void link_mcu_init(void) { intermcu_data.status = LINK_MCU_UNINIT; - intermcu_data.msg_available = FALSE; + intermcu_data.msg_available = false; intermcu_data.error_cnt = 0; #ifdef AP #if PERIODIC_TELEMETRY @@ -309,7 +309,7 @@ void parse_mavpilot_msg(void) #ifdef LINK_MCU_LED LED_TOGGLE(LINK_MCU_LED); #endif - inter_mcu_received_ap = TRUE; + inter_mcu_received_ap = true; } else if (intermcu_data.msg_id == MSG_INTERMCU_RADIO_ID) { #if RADIO_CONTROL_NB_CHANNEL > 10 #error "INTERMCU UART CAN ONLY SEND 10 RADIO CHANNELS OR THE UART WILL BE OVERFILLED" @@ -331,7 +331,7 @@ void parse_mavpilot_msg(void) #ifdef LINK_MCU_LED LED_TOGGLE(LINK_MCU_LED); #endif - inter_mcu_received_fbw = TRUE; + inter_mcu_received_fbw = true; } } } @@ -379,7 +379,7 @@ void link_mcu_event_task(void) intermcu_parse(InterMcuUartGetch()); if (intermcu_data.msg_available) { parse_mavpilot_msg(); - intermcu_data.msg_available = FALSE; + intermcu_data.msg_available = false; } } } diff --git a/sw/airborne/link_mcu_usart.h b/sw/airborne/link_mcu_usart.h index 375717d2f1..558e17d578 100644 --- a/sw/airborne/link_mcu_usart.h +++ b/sw/airborne/link_mcu_usart.h @@ -40,7 +40,7 @@ struct link_mcu_msg { extern struct link_mcu_msg link_mcu_from_ap_msg; extern struct link_mcu_msg link_mcu_from_fbw_msg; -extern bool_t link_mcu_received; +extern bool link_mcu_received; extern void link_mcu_send(void); extern void link_mcu_init(void); diff --git a/sw/airborne/math/pprz_orientation_conversion.h b/sw/airborne/math/pprz_orientation_conversion.h index f2ce4b5b9d..5c5d3fadbe 100644 --- a/sw/airborne/math/pprz_orientation_conversion.h +++ b/sw/airborne/math/pprz_orientation_conversion.h @@ -132,7 +132,7 @@ extern void orientationCalcEulers_f(struct OrientationReps *orientation); /*********************** validity test functions ******************/ /// Test if orientations are valid. -static inline bool_t orienationCheckValid(struct OrientationReps *orientation) +static inline bool orienationCheckValid(struct OrientationReps *orientation) { return (orientation->status); } diff --git a/sw/airborne/mcu_periph/i2c.c b/sw/airborne/mcu_periph/i2c.c index 9698d367a1..88be61853d 100644 --- a/sw/airborne/mcu_periph/i2c.c +++ b/sw/airborne/mcu_periph/i2c.c @@ -255,7 +255,7 @@ void i2c_init(struct i2c_periph *p) } -bool_t i2c_transmit(struct i2c_periph *p, struct i2c_transaction *t, +bool i2c_transmit(struct i2c_periph *p, struct i2c_transaction *t, uint8_t s_addr, uint8_t len) { t->type = I2CTransTx; @@ -265,7 +265,7 @@ bool_t i2c_transmit(struct i2c_periph *p, struct i2c_transaction *t, return i2c_submit(p, t); } -bool_t i2c_receive(struct i2c_periph *p, struct i2c_transaction *t, +bool i2c_receive(struct i2c_periph *p, struct i2c_transaction *t, uint8_t s_addr, uint16_t len) { t->type = I2CTransRx; @@ -275,7 +275,7 @@ bool_t i2c_receive(struct i2c_periph *p, struct i2c_transaction *t, return i2c_submit(p, t); } -bool_t i2c_transceive(struct i2c_periph *p, struct i2c_transaction *t, +bool i2c_transceive(struct i2c_periph *p, struct i2c_transaction *t, uint8_t s_addr, uint8_t len_w, uint16_t len_r) { t->type = I2CTransTxRx; diff --git a/sw/airborne/mcu_periph/i2c.h b/sw/airborne/mcu_periph/i2c.h index 0bae71c549..35f09c5677 100644 --- a/sw/airborne/mcu_periph/i2c.h +++ b/sw/airborne/mcu_periph/i2c.h @@ -222,7 +222,7 @@ extern void i2c_init(struct i2c_periph *p); * @param p i2c peripheral to be used * @return TRUE if idle */ -extern bool_t i2c_idle(struct i2c_periph *p); +extern bool i2c_idle(struct i2c_periph *p); /** Submit a I2C transaction. * Must be implemented by the underlying architecture @@ -230,7 +230,7 @@ extern bool_t i2c_idle(struct i2c_periph *p); * @param t i2c transaction * @return TRUE if insertion to the transaction queue succeded */ -extern bool_t i2c_submit(struct i2c_periph *p, struct i2c_transaction *t); +extern bool i2c_submit(struct i2c_periph *p, struct i2c_transaction *t); /** Set I2C bitrate. * @param p i2c peripheral to be used @@ -255,7 +255,7 @@ extern void i2c_event(void); * @param len number of bytes to transmit * @return TRUE if insertion to the transaction queue succeded */ -extern bool_t i2c_transmit(struct i2c_periph *p, struct i2c_transaction *t, +extern bool i2c_transmit(struct i2c_periph *p, struct i2c_transaction *t, uint8_t s_addr, uint8_t len); /** Submit a read only transaction. @@ -267,7 +267,7 @@ extern bool_t i2c_transmit(struct i2c_periph *p, struct i2c_transaction *t, * @param len number of bytes to receive * @return TRUE if insertion to the transaction queue succeded */ -extern bool_t i2c_receive(struct i2c_periph *p, struct i2c_transaction *t, +extern bool i2c_receive(struct i2c_periph *p, struct i2c_transaction *t, uint8_t s_addr, uint16_t len); /** Submit a write/read transaction. @@ -280,7 +280,7 @@ extern bool_t i2c_receive(struct i2c_periph *p, struct i2c_transaction *t, * @param len_r number of bytes to receive * @return TRUE if insertion to the transaction queue succeded */ -extern bool_t i2c_transceive(struct i2c_periph *p, struct i2c_transaction *t, +extern bool i2c_transceive(struct i2c_periph *p, struct i2c_transaction *t, uint8_t s_addr, uint8_t len_w, uint16_t len_r); /** @}*/ diff --git a/sw/airborne/mcu_periph/spi.c b/sw/airborne/mcu_periph/spi.c index 3402ad748b..1e78d0df21 100644 --- a/sw/airborne/mcu_periph/spi.c +++ b/sw/airborne/mcu_periph/spi.c @@ -81,7 +81,7 @@ void spi_init(struct spi_periph *p) p->trans_extract_idx = 0; p->status = SPIIdle; p->mode = SPIMaster; - p->suspend = FALSE; + p->suspend = false; } #endif /* SPI_MASTER */ @@ -139,7 +139,7 @@ extern void spi_slave_init(struct spi_periph *p) p->trans_extract_idx = 0; p->status = SPIIdle; p->mode = SPISlave; - p->suspend = FALSE; + p->suspend = false; } #endif /* SPI_SLAVE */ diff --git a/sw/airborne/mcu_periph/spi.h b/sw/airborne/mcu_periph/spi.h index a49345cade..a82b164d37 100644 --- a/sw/airborne/mcu_periph/spi.h +++ b/sw/airborne/mcu_periph/spi.h @@ -256,7 +256,7 @@ extern void spi_init_slaves(void); * @param t spi transaction * @return TRUE if insertion to the transaction queue succeeded */ -extern bool_t spi_submit(struct spi_periph *p, struct spi_transaction *t); +extern bool spi_submit(struct spi_periph *p, struct spi_transaction *t); /** Select a slave. * @param slave slave id @@ -276,7 +276,7 @@ extern void spi_slave_unselect(uint8_t slave); * @param slave slave id * @return true if correctly locked */ -extern bool_t spi_lock(struct spi_periph *p, uint8_t slave); +extern bool spi_lock(struct spi_periph *p, uint8_t slave); /** Resume the SPI fifo. * Only the slave that locks the fifo can unlock it. @@ -284,7 +284,7 @@ extern bool_t spi_lock(struct spi_periph *p, uint8_t slave); * @param slave slave id * @return true if correctly unlocked */ -extern bool_t spi_resume(struct spi_periph *p, uint8_t slave); +extern bool spi_resume(struct spi_periph *p, uint8_t slave); #endif /* SPI_MASTER */ @@ -349,7 +349,7 @@ extern void spi_slave_init(struct spi_periph *p); * @param t spi transaction * @return return true if registered with success */ -extern bool_t spi_slave_register(struct spi_periph *p, struct spi_transaction *t); +extern bool spi_slave_register(struct spi_periph *p, struct spi_transaction *t); /** Initialized and wait for the next transaction. * If a transaction is registered for this peripheral, the spi will be @@ -357,7 +357,7 @@ extern bool_t spi_slave_register(struct spi_periph *p, struct spi_transaction *t * @param p spi peripheral to be used * @return return true if a transaction was register for this peripheral */ -extern bool_t spi_slave_wait(struct spi_periph *p); +extern bool spi_slave_wait(struct spi_periph *p); #endif /* SPI_SLAVE */ diff --git a/sw/airborne/mcu_periph/sys_time.c b/sw/airborne/mcu_periph/sys_time.c index 026b622a1a..4080553dff 100644 --- a/sw/airborne/mcu_periph/sys_time.c +++ b/sw/airborne/mcu_periph/sys_time.c @@ -41,10 +41,10 @@ int sys_time_register_timer(float duration, sys_time_cb cb) for (int i = 0; i < SYS_TIME_NB_TIMER; i++) { if (!sys_time.timer[i].in_use) { sys_time.timer[i].cb = cb; - sys_time.timer[i].elapsed = FALSE; + sys_time.timer[i].elapsed = false; sys_time.timer[i].end_time = start_time + sys_time_ticks_of_sec(duration); sys_time.timer[i].duration = sys_time_ticks_of_sec(duration); - sys_time.timer[i].in_use = TRUE; + sys_time.timer[i].in_use = true; return i; } } @@ -54,9 +54,9 @@ int sys_time_register_timer(float duration, sys_time_cb cb) void sys_time_cancel_timer(tid_t id) { - sys_time.timer[id].in_use = FALSE; + sys_time.timer[id].in_use = false; sys_time.timer[id].cb = NULL; - sys_time.timer[id].elapsed = FALSE; + sys_time.timer[id].elapsed = false; sys_time.timer[id].end_time = 0; sys_time.timer[id].duration = 0; } @@ -80,9 +80,9 @@ void sys_time_init(void) sys_time.resolution = 1.0 / sys_time.ticks_per_sec; for (unsigned int i = 0; i < SYS_TIME_NB_TIMER; i++) { - sys_time.timer[i].in_use = FALSE; + sys_time.timer[i].in_use = false; sys_time.timer[i].cb = NULL; - sys_time.timer[i].elapsed = FALSE; + sys_time.timer[i].elapsed = false; sys_time.timer[i].end_time = 0; sys_time.timer[i].duration = 0; } diff --git a/sw/airborne/mcu_periph/sys_time.h b/sw/airborne/mcu_periph/sys_time.h index afee1b835f..94ac166110 100644 --- a/sw/airborne/mcu_periph/sys_time.h +++ b/sw/airborne/mcu_periph/sys_time.h @@ -58,9 +58,9 @@ typedef uint8_t tid_t; ///< sys_time timer id type typedef void (*sys_time_cb)(uint8_t id); struct sys_time_timer { - bool_t in_use; + bool in_use; sys_time_cb cb; - volatile bool_t elapsed; + volatile bool elapsed; uint32_t end_time; ///< in SYS_TIME_TICKS uint32_t duration; ///< in SYS_TIME_TICKS }; @@ -108,13 +108,13 @@ extern void sys_time_update_timer(tid_t id, float duration); * @param id Timer id * @return TRUE if timer has elapsed */ -static inline bool_t sys_time_check_and_ack_timer(tid_t id) +static inline bool sys_time_check_and_ack_timer(tid_t id) { if (sys_time.timer[id].elapsed) { - sys_time.timer[id].elapsed = FALSE; - return TRUE; + sys_time.timer[id].elapsed = false; + return true; } - return FALSE; + return false; } /** diff --git a/sw/airborne/mcu_periph/uart.c b/sw/airborne/mcu_periph/uart.c index bbb98f4246..ab8d69696f 100644 --- a/sw/airborne/mcu_periph/uart.c +++ b/sw/airborne/mcu_periph/uart.c @@ -236,7 +236,7 @@ void uart_periph_init(struct uart_periph *p) p->rx_extract_idx = 0; p->tx_insert_idx = 0; p->tx_extract_idx = 0; - p->tx_running = FALSE; + p->tx_running = false; p->ore = 0; p->ne_err = 0; p->fe_err = 0; @@ -254,7 +254,7 @@ void uart_periph_init(struct uart_periph *p) #endif } -bool_t uart_check_free_space(struct uart_periph *p, uint8_t len) +bool uart_check_free_space(struct uart_periph *p, uint8_t len) { int16_t space = p->tx_extract_idx - p->tx_insert_idx; if (space <= 0) { diff --git a/sw/airborne/mcu_periph/uart.h b/sw/airborne/mcu_periph/uart.h index 3a847a3a56..177bfd42b6 100644 --- a/sw/airborne/mcu_periph/uart.h +++ b/sw/airborne/mcu_periph/uart.h @@ -94,9 +94,9 @@ struct uart_periph { extern void uart_periph_init(struct uart_periph *p); extern void uart_periph_set_baudrate(struct uart_periph *p, uint32_t baud); extern void uart_periph_set_bits_stop_parity(struct uart_periph *p, uint8_t bits, uint8_t stop, uint8_t parity); -extern void uart_periph_set_mode(struct uart_periph *p, bool_t tx_enabled, bool_t rx_enabled, bool_t hw_flow_control); +extern void uart_periph_set_mode(struct uart_periph *p, bool tx_enabled, bool rx_enabled, bool hw_flow_control); extern void uart_put_byte(struct uart_periph *p, uint8_t data); -extern bool_t uart_check_free_space(struct uart_periph *p, uint8_t len); +extern bool uart_check_free_space(struct uart_periph *p, uint8_t len); extern uint8_t uart_getch(struct uart_periph *p); /** diff --git a/sw/airborne/mcu_periph/udp.c b/sw/airborne/mcu_periph/udp.c index bac4e0d009..b064d9a1cb 100644 --- a/sw/airborne/mcu_periph/udp.c +++ b/sw/airborne/mcu_periph/udp.c @@ -55,7 +55,7 @@ PRINT_CONFIG_VAR(UDP2_BROADCAST) /** * Initialize the UDP peripheral */ -void udp_periph_init(struct udp_periph *p, char *host, int port_out, int port_in, bool_t broadcast) +void udp_periph_init(struct udp_periph *p, char *host, int port_out, int port_in, bool broadcast) { p->rx_insert_idx = 0; p->rx_extract_idx = 0; @@ -77,7 +77,7 @@ void udp_periph_init(struct udp_periph *p, char *host, int port_out, int port_in * @param len how many bytes of free space to check for * @return TRUE if enough space for len bytes */ -bool_t udp_check_free_space(struct udp_periph *p, uint8_t len) +bool udp_check_free_space(struct udp_periph *p, uint8_t len) { return (UDP_TX_BUFFER_SIZE - p->tx_insert_idx) >= len; } diff --git a/sw/airborne/mcu_periph/udp.h b/sw/airborne/mcu_periph/udp.h index 1d33f03325..636adf91b6 100644 --- a/sw/airborne/mcu_periph/udp.h +++ b/sw/airborne/mcu_periph/udp.h @@ -49,12 +49,12 @@ struct udp_periph { struct link_device device; }; -extern void udp_periph_init(struct udp_periph *p, char *host, int port_out, int port_in, bool_t broadcast); -extern bool_t udp_check_free_space(struct udp_periph *p, uint8_t len); +extern void udp_periph_init(struct udp_periph *p, char *host, int port_out, int port_in, bool broadcast); +extern bool udp_check_free_space(struct udp_periph *p, uint8_t len); extern void udp_put_byte(struct udp_periph *p, uint8_t data); extern uint16_t udp_char_available(struct udp_periph *p); extern uint8_t udp_getch(struct udp_periph *p); -extern void udp_arch_periph_init(struct udp_periph *p, char *host, int port_out, int port_in, bool_t broadcast); +extern void udp_arch_periph_init(struct udp_periph *p, char *host, int port_out, int port_in, bool broadcast); extern void udp_send_message(struct udp_periph *p); extern void udp_send_raw(struct udp_periph *p, uint8_t *buffer, uint16_t size); extern void udp_receive(struct udp_periph *p); diff --git a/sw/airborne/mcu_periph/usb_serial.h b/sw/airborne/mcu_periph/usb_serial.h index 85126dc0f1..17582a967b 100644 --- a/sw/airborne/mcu_periph/usb_serial.h +++ b/sw/airborne/mcu_periph/usb_serial.h @@ -42,7 +42,7 @@ extern struct usb_serial_periph usb_serial; void VCOM_init(void); int VCOM_putchar(int c); int VCOM_getchar(void); -bool_t VCOM_check_free_space(uint8_t len); +bool VCOM_check_free_space(uint8_t len); int VCOM_check_available(void); void VCOM_set_linecoding(uint8_t mode); void VCOM_allow_linecoding(uint8_t mode); diff --git a/sw/airborne/modules/air_data/air_data.c b/sw/airborne/modules/air_data/air_data.c index 2486fe6f4a..2716f3b5d0 100644 --- a/sw/airborne/modules/air_data/air_data.c +++ b/sw/airborne/modules/air_data/air_data.c @@ -109,13 +109,13 @@ static void pressure_abs_cb(uint8_t __attribute__((unused)) sender_id, float pre } float h = stateGetPositionLla_f()->alt - geoid_separation; air_data.qnh = pprz_isa_ref_pressure_of_height_full(air_data.pressure, h) / 100.f; - air_data.calc_qnh_once = FALSE; + air_data.calc_qnh_once = false; } if (air_data.calc_amsl_baro && air_data.qnh > 0) { air_data.amsl_baro = pprz_isa_height_of_pressure_full(air_data.pressure, air_data.qnh * 100.f); - air_data.amsl_baro_valid = TRUE; + air_data.amsl_baro_valid = true; } /* reset baro health counter */ @@ -180,8 +180,8 @@ void air_data_init(void) air_data.calc_tas_factor = AIR_DATA_CALC_TAS_FACTOR; air_data.calc_amsl_baro = AIR_DATA_CALC_AMSL_BARO; air_data.tas_factor = AIR_DATA_TAS_FACTOR; - air_data.calc_qnh_once = TRUE; - air_data.amsl_baro_valid = FALSE; + air_data.calc_qnh_once = true; + air_data.amsl_baro_valid = false; /* initialize the output variables * pressure, qnh, temperature and airspeed to invalid values, @@ -229,7 +229,7 @@ void air_data_periodic(void) if (baro_health_counter > 0) { baro_health_counter--; } else { - air_data.amsl_baro_valid = FALSE; + air_data.amsl_baro_valid = false; } } diff --git a/sw/airborne/modules/air_data/air_data.h b/sw/airborne/modules/air_data/air_data.h index 95dcd523c3..e8578068f1 100644 --- a/sw/airborne/modules/air_data/air_data.h +++ b/sw/airborne/modules/air_data/air_data.h @@ -44,11 +44,11 @@ struct AirData { float tas_factor; ///< factor to convert equivalent airspeed (EAS) to true airspeed (TAS) float qnh; ///< Barometric pressure adjusted to sea level in hPa, -1 if unknown float amsl_baro; ///< altitude above sea level in m from pressure and QNH - bool_t amsl_baro_valid; ///< TRUE if #amsl_baro is currently valid - bool_t calc_airspeed; ///< if TRUE, calculate airspeed from differential pressure - bool_t calc_qnh_once; ///< flag to calculate QNH with next pressure measurement - bool_t calc_amsl_baro; ///< if TRUE, calculate #amsl_baro - bool_t calc_tas_factor; ///< if TRUE, calculate #tas_factor when getting a temp measurement + bool amsl_baro_valid; ///< TRUE if #amsl_baro is currently valid + bool calc_airspeed; ///< if TRUE, calculate airspeed from differential pressure + bool calc_qnh_once; ///< flag to calculate QNH with next pressure measurement + bool calc_amsl_baro; ///< if TRUE, calculate #amsl_baro + bool calc_tas_factor; ///< if TRUE, calculate #tas_factor when getting a temp measurement float aoa; ///< angle of attack (rad) float sideslip; ///< sideslip angle (rad) diff --git a/sw/airborne/modules/airborne_ant_track/airborne_ant_track.c b/sw/airborne/modules/airborne_ant_track/airborne_ant_track.c index 92114ea377..df897793f8 100644 --- a/sw/airborne/modules/airborne_ant_track/airborne_ant_track.c +++ b/sw/airborne/modules/airborne_ant_track/airborne_ant_track.c @@ -41,7 +41,7 @@ typedef struct { } MATRIX; float airborne_ant_pan; -static bool_t ant_pan_positive = 0; +static bool ant_pan_positive = 0; void ant_point(void); static void vSubtractVectors(VECTOR *svA, VECTOR svB, VECTOR svC); diff --git a/sw/airborne/modules/benchmark/flight_benchmark.c b/sw/airborne/modules/benchmark/flight_benchmark.c index 05b931d805..256e6caa19 100644 --- a/sw/airborne/modules/benchmark/flight_benchmark.c +++ b/sw/airborne/modules/benchmark/flight_benchmark.c @@ -26,8 +26,8 @@ float SquareSumErr_position; float ToleranceAispeed; float ToleranceAltitude; float TolerancePosition; -bool_t benchm_reset; -bool_t benchm_go; +bool benchm_reset; +bool benchm_go; //uint8_t numOfCount; diff --git a/sw/airborne/modules/benchmark/flight_benchmark.h b/sw/airborne/modules/benchmark/flight_benchmark.h index d2cc190ae5..0aa9c83258 100644 --- a/sw/airborne/modules/benchmark/flight_benchmark.h +++ b/sw/airborne/modules/benchmark/flight_benchmark.h @@ -10,7 +10,7 @@ void flight_benchmark_reset(void); extern float ToleranceAispeed; extern float ToleranceAltitude; extern float TolerancePosition; -extern bool_t benchm_reset; -extern bool_t benchm_go; +extern bool benchm_reset; +extern bool benchm_go; #endif /* FLIGHTBENCHMARK_H */ diff --git a/sw/airborne/modules/cam_control/cam.c b/sw/airborne/modules/cam_control/cam.c index e4cb371a51..768d47fe47 100644 --- a/sw/airborne/modules/cam_control/cam.c +++ b/sw/airborne/modules/cam_control/cam.c @@ -89,7 +89,7 @@ uint8_t cam_target_ac; #define CAM_MODE0 CAM_MODE_OFF #endif uint8_t cam_mode; -bool_t cam_lock; +bool cam_lock; int16_t cam_pan_command; int16_t cam_tilt_command; diff --git a/sw/airborne/modules/cam_control/cam.h b/sw/airborne/modules/cam_control/cam.h index 3ebd0396be..71db7b9378 100644 --- a/sw/airborne/modules/cam_control/cam.h +++ b/sw/airborne/modules/cam_control/cam.h @@ -90,7 +90,7 @@ extern float test_cam_estimator_hspeed_dir; #if defined(COMMAND_CAM_PWR_SW) || defined(VIDEO_TX_SWITCH) -extern bool_t video_tx_state; +extern bool video_tx_state; #define VIDEO_TX_ON() { video_tx_state = 1; 0; } #define VIDEO_TX_OFF() { video_tx_state = 0; 0; } diff --git a/sw/airborne/modules/cam_control/point.c b/sw/airborne/modules/cam_control/point.c index 37d6d5662c..395c383c39 100644 --- a/sw/airborne/modules/cam_control/point.c +++ b/sw/airborne/modules/cam_control/point.c @@ -95,7 +95,7 @@ typedef struct { float cam_theta; float cam_phi; -bool_t heading_positive = 0; +bool heading_positive = 0; float memory_x, memory_y, memory_z; #if defined(SHOW_CAM_COORDINATES) float cam_point_x; @@ -341,8 +341,8 @@ void vPoint(float fPlaneEast, float fPlaneNorth, float fPlaneAltitude, vMultiplyMatrixByVector(&sv_cam_projection, smRotation, sv_cam_projection_buf); #if defined(RADIO_CAM_LOCK) - if ((float)(*fbw_state).channels[RADIO_CAM_LOCK] > MAX_PPRZ / 2)) && pprz_mode == PPRZ_MODE_AUTO2) { cam_lock = TRUE; } - if ((float)(*fbw_state).channels[RADIO_CAM_LOCK] < MIN_PPRZ / 2 && pprz_mode == PPRZ_MODE_AUTO2) { cam_lock = FALSE; } + if ((float)(*fbw_state).channels[RADIO_CAM_LOCK] > MAX_PPRZ / 2)) && pprz_mode == PPRZ_MODE_AUTO2) { cam_lock = true; } + if ((float)(*fbw_state).channels[RADIO_CAM_LOCK] < MIN_PPRZ / 2 && pprz_mode == PPRZ_MODE_AUTO2) { cam_lock = false; } #endif // When the variable "cam_lock" is set then the last calculated position is set as the target waypoint. if (cam_lock == FALSE) { diff --git a/sw/airborne/modules/cartography/cartography.c b/sw/airborne/modules/cartography/cartography.c index 2ecd2c3c7d..9ec8555d07 100644 --- a/sw/airborne/modules/cartography/cartography.c +++ b/sw/airborne/modules/cartography/cartography.c @@ -96,7 +96,7 @@ uint16_t camera_snapshot_image_number = 0; //////////////////////////////////////////////////////////////////////////////////////////////// -bool_t survey_losange_uturn;//this flag indicates if the aircraft is turning between 2 rails (1) or if it is flying straight forward in the rail direction (0) +bool survey_losange_uturn;//this flag indicates if the aircraft is turning between 2 rails (1) or if it is flying straight forward in the rail direction (0) int railnumber; //indicate the number of the rail being acquired int numberofrailtodo; @@ -130,7 +130,7 @@ float normBM, normAM, distancefromrail; float course_next_rail; float angle_between; -bool_t ProjectionInsideLimitOfRail; +bool ProjectionInsideLimitOfRail; @@ -165,41 +165,41 @@ void stop_carto(void) /////////////////////////////////////////////////////////////////////////////////////////////// -bool_t nav_survey_Inc_railnumberSinceBoot(void) +bool nav_survey_Inc_railnumberSinceBoot(void) { railnumberSinceBoot++; - return FALSE; + return false; } /////////////////////////////////////////////////////////////////////////////////////////////// -bool_t nav_survey_Snapshoot(void) +bool nav_survey_Snapshoot(void) { camera_snapshot_image_number = railnumberSinceBoot; PRTDEBSTR(SNAPSHOT) cartography_periodic_downlink_carto_status = MODULES_START; - return FALSE; + return false; } /////////////////////////////////////////////////////////////////////////////////////////////// -bool_t nav_survey_Snapshoot_Continu(void) +bool nav_survey_Snapshoot_Continu(void) { camera_snapshot_image_number = railnumberSinceBoot; PRTDEBSTR(SNAPSHOT) cartography_periodic_downlink_carto_status = MODULES_START; - return TRUE; + return true; } /////////////////////////////////////////////////////////////////////////////////////////////// -bool_t nav_survey_StopSnapshoot(void) +bool nav_survey_StopSnapshoot(void) { camera_snapshot_image_number = 0; PRTDEBSTR(STOP SNAPSHOT) cartography_periodic_downlink_carto_status = MODULES_START; - return FALSE; + return false; } /////////////////////////////////////////////////////////////////////////////////////////////// -bool_t nav_survey_computefourth_corner(uint8_t wp1, uint8_t wp2, uint8_t wp3, uint8_t wp4) +bool nav_survey_computefourth_corner(uint8_t wp1, uint8_t wp2, uint8_t wp3, uint8_t wp4) { waypoints[wp4].x = waypoints[wp2].x + waypoints[wp3].x - waypoints[wp1].x; waypoints[wp4].y = waypoints[wp2].y + waypoints[wp3].y - waypoints[wp1].y; @@ -207,15 +207,15 @@ bool_t nav_survey_computefourth_corner(uint8_t wp1, uint8_t wp2, uint8_t wp3, u PRTDEBSTR(nav_survey_computefourth_corner) PRTDEB(f, waypoints[wp4].x) PRTDEB(f, waypoints[wp4].y) - return FALSE; + return false; } //////////////////////////////////////////////////////////////////////////////////////////////// -bool_t nav_survey_ComputeProjectionOnLine(struct point pointAf, struct point pointBf, float pos_xf, float pos_yf, +bool nav_survey_ComputeProjectionOnLine(struct point pointAf, struct point pointBf, float pos_xf, float pos_yf, float *normAMf, float *normBMf, float *distancefromrailf); -bool_t nav_survey_ComputeProjectionOnLine(struct point pointAf, struct point pointBf, float pos_xf, float pos_yf, +bool nav_survey_ComputeProjectionOnLine(struct point pointAf, struct point pointBf, float pos_xf, float pos_yf, float *normAMf, float *normBMf, float *distancefromrailf) //return if the projection of the estimator on the AB line is located inside the AB interval { @@ -310,10 +310,10 @@ bool_t nav_survey_ComputeProjectionOnLine(struct point pointAf, struct point po /////////////////////////////////////////////////////////////////////////// //if distrailinit = 0, the aircraft travel from wp1 -> wp2 then do the inverse travel passing through the wp3, //This mode could be use to register bands of images aquired in a first nav_survey_losange_carto, done perpendicularly -bool_t nav_survey_losange_carto_init(uint8_t wp1, uint8_t wp2, uint8_t wp3, float distrailinit, float distplusinit) +bool nav_survey_losange_carto_init(uint8_t wp1, uint8_t wp2, uint8_t wp3, float distrailinit, float distplusinit) { //PRTDEBSTR(nav_survey_losange_carto_init) - survey_losange_uturn = FALSE; + survey_losange_uturn = false; point1.x = waypoints[wp1].x; //the coordinates are in meter units, taken from the flight plan, in float type @@ -357,7 +357,7 @@ bool_t nav_survey_losange_carto_init(uint8_t wp1, uint8_t wp2, uint8_t wp3, flo PRTDEB(f, norm13) //if (distrail<1e-15) //inutile distrail=0 pour recollage et dans ce cas, il prend la valeur norm13 - // return FALSE; + // return false; if (fabs(distrailinit) <= 1) { @@ -382,10 +382,10 @@ bool_t nav_survey_losange_carto_init(uint8_t wp1, uint8_t wp2, uint8_t wp3, flo railnumber = -1; // the state is before the first rail, which is numbered 0 if (norm12 < 1e-15) { - return FALSE; + return false; } if (norm13 < 1e-15) { - return FALSE; + return false; } @@ -405,13 +405,13 @@ bool_t nav_survey_losange_carto_init(uint8_t wp1, uint8_t wp2, uint8_t wp3, flo } - return FALSE; //Init function must return false, so that the next function in the flight plan is automatically executed + return false; //Init function must return false, so that the next function in the flight plan is automatically executed //dans le flight_plan.h // if (! (nav_survey_losange_carto())) // NextStageAndBreak(); } //////////////////////////////////////////////////////////////////////////////////////////////// -bool_t nav_survey_losange_carto(void) +bool nav_survey_losange_carto(void) { //test pour modifier en vol la valeur distrail @@ -438,15 +438,15 @@ bool_t nav_survey_losange_carto(void) //sortir du bloc si données abhérantes if (norm13 < 1e-15) { PRTDEBSTR(norm13 < 1e-15) - return FALSE; + return false; } if (norm12 < 1e-15) { PRTDEBSTR(norm13 < 1e-15) - return FALSE; + return false; } if (distrail < 1e-15) { PRTDEBSTR(distrail < 1e-15) - return FALSE; + return false; } if (survey_losange_uturn == FALSE) { @@ -537,7 +537,7 @@ bool_t nav_survey_losange_carto(void) // nav_survey_ComputeProjectionOnLine(pointA,pointB,stateGetPositionEnu_f()->x,stateGetPositionEnu_f()->y,&normAM,&normBM,&distancefromrail); if ((normAM > distplus) && (normBM > distplus) && (distancefromrail < distrail / 2)) { - //CAMERA_SNAPSHOT_REQUIERED=TRUE; + //CAMERA_SNAPSHOT_REQUIERED=true; //camera_snapshot_image_number++; camera_snapshot_image_number = railnumberSinceBoot; PRTDEBSTR(SNAPSHOT) @@ -552,17 +552,17 @@ bool_t nav_survey_losange_carto(void) PRTDEB(d, railnumber) PRTDEB(d, railnumberSinceBoot) - //CAMERA_SNAPSHOT_REQUIERED=TRUE; + //CAMERA_SNAPSHOT_REQUIERED=true; //camera_snapshot_image_number++; PRTDEBSTR(UTURN) - survey_losange_uturn = TRUE; + survey_losange_uturn = true; } if (railnumber > numberofrailtodo) { PRTDEBSTR(fin nav_survey_losange_carto) - return FALSE; //apparament, l'avion va au bloc suivant lorsque la fonction renvoie false + return false; //apparament, l'avion va au bloc suivant lorsque la fonction renvoie false } } @@ -613,7 +613,7 @@ bool_t nav_survey_losange_carto(void) if ((DISTXY(stateGetPositionEnu_f()->x, stateGetPositionEnu_f()->y, pointB.x, pointB.y) < DISTLIMIT) || (angle_between > -10 && angle_between < 10)) { //l'avion fait le rail suivant - survey_losange_uturn = FALSE; + survey_losange_uturn = false; PRTDEBSTR(FIN UTURN - IMPAIR) } } else { //if ((railnumber %2)==0) //rail précédent n1, 3, 5, donc seconde direction, de wp2 vers wp1 @@ -657,7 +657,7 @@ bool_t nav_survey_losange_carto(void) if ((DISTXY(stateGetPositionEnu_f()->x, stateGetPositionEnu_f()->y, pointB.x, pointB.y) < DISTLIMIT) || (angle_between > -10 && angle_between < 10)) { //l'avion fait le rail suivant - survey_losange_uturn = FALSE; + survey_losange_uturn = false; PRTDEBSTR(FIN UTURN - PAIR) } } @@ -675,7 +675,7 @@ bool_t nav_survey_losange_carto(void) nav_route_xy(pointA.x, pointA.y, pointB.x, pointB.y); if (DISTXY(stateGetPositionEnu_f()->x, stateGetPositionEnu_f()->y, pointB.x, pointB.y) < DISTLIMIT) { //l'avion fait le rail suivant - survey_losange_uturn = FALSE; + survey_losange_uturn = false; PRTDEBSTR(FIN TRANSIT - IMPAIR) } } else { //if ((railnumber %2)==0) //rail précédent n1, 3, 5, donc seconde direction, de wp2 vers wp1 @@ -689,7 +689,7 @@ bool_t nav_survey_losange_carto(void) nav_route_xy(pointA.x, pointA.y, pointB.x, pointB.y); if (DISTXY(stateGetPositionEnu_f()->x, stateGetPositionEnu_f()->y, pointB.x, pointB.y) < DISTLIMIT) { //l'avion fait le rail suivant - survey_losange_uturn = FALSE; + survey_losange_uturn = false; PRTDEBSTR(FIN TRANSIT - PAIR) } @@ -707,7 +707,7 @@ bool_t nav_survey_losange_carto(void) cartography_periodic_downlink_carto_status = MODULES_START; - return TRUE; //apparament pour les fonctions de tache=> true + return true; //apparament pour les fonctions de tache=> true } //////////////////////////////////////////////////////////////////////////////////////////////// diff --git a/sw/airborne/modules/cartography/cartography.h b/sw/airborne/modules/cartography/cartography.h index 578b1d04d0..b4c3233bf8 100644 --- a/sw/airborne/modules/cartography/cartography.h +++ b/sw/airborne/modules/cartography/cartography.h @@ -17,7 +17,7 @@ void stop_carto(void); #if USE_ONBOARD_CAMERA -extern bool_t CAMERA_SNAPSHOT_REQUIERED; +extern bool CAMERA_SNAPSHOT_REQUIERED; extern uint16_t camera_snapshot_image_number; #endif @@ -28,15 +28,15 @@ extern float distrailinteractif; //pour exporter la variable et pouvoir la chang /////////////////////////////////////////////////////////////////////////////////////////////// -extern bool_t nav_survey_Inc_railnumberSinceBoot(void); -extern bool_t nav_survey_Snapshoot(void); -bool_t nav_survey_Snapshoot_Continu(void); -extern bool_t nav_survey_StopSnapshoot(void); -extern bool_t nav_survey_computefourth_corner(uint8_t wp1, uint8_t wp2, uint8_t wp3, uint8_t wp4); +extern bool nav_survey_Inc_railnumberSinceBoot(void); +extern bool nav_survey_Snapshoot(void); +bool nav_survey_Snapshoot_Continu(void); +extern bool nav_survey_StopSnapshoot(void); +extern bool nav_survey_computefourth_corner(uint8_t wp1, uint8_t wp2, uint8_t wp3, uint8_t wp4); -extern bool_t nav_survey_losange_carto_init(uint8_t wp1, uint8_t wp2, uint8_t wp3, float distrail, float distplus); +extern bool nav_survey_losange_carto_init(uint8_t wp1, uint8_t wp2, uint8_t wp3, float distrail, float distplus); -extern bool_t nav_survey_losange_carto( +extern bool nav_survey_losange_carto( void); // !!!! important il faut mettre void en parametres d'entrée, sinon le compilo dit: attention : function declaration isn»t a prototype //(uint8_t wp1, uint8_t wp2, uint8_t wp3); diff --git a/sw/airborne/modules/com/generic_com.c b/sw/airborne/modules/com/generic_com.c index bc14d467ef..7a8850f509 100644 --- a/sw/airborne/modules/com/generic_com.c +++ b/sw/airborne/modules/com/generic_com.c @@ -47,11 +47,11 @@ struct i2c_transaction com_trans; -bool_t active_com; +bool active_com; void generic_com_init(void) { - active_com = FALSE; + active_com = false; com_trans.status = I2CTransDone; } @@ -99,13 +99,13 @@ void generic_com_event(void) void start_com(void) { - active_com = TRUE; + active_com = true; com_trans.status = I2CTransDone; } void stop_com(void) { - active_com = FALSE; + active_com = false; com_trans.buf[0] = active_com; i2c_transmit(&GENERIC_COM_I2C_DEV, &com_trans, GENERIC_COM_SLAVE_ADDR, 1); } diff --git a/sw/airborne/modules/com/usb_serial_stm32_example1.c b/sw/airborne/modules/com/usb_serial_stm32_example1.c index 714e55180b..1675afa0da 100644 --- a/sw/airborne/modules/com/usb_serial_stm32_example1.c +++ b/sw/airborne/modules/com/usb_serial_stm32_example1.c @@ -35,7 +35,7 @@ void cmd_execute(void); char cmd_buf[64]; uint8_t cmd_idx; -bool_t cmd_avail; +bool cmd_avail; uint8_t prompt = '$'; /** @@ -45,7 +45,7 @@ void init_usb_serial(void) { VCOM_init(); cmd_idx = 0; - cmd_avail = FALSE; + cmd_avail = false; } @@ -62,7 +62,7 @@ void usb_serial_parse_packet(int data) if (c == '\r' || c == '\n') { // command complete - cmd_avail = TRUE; + cmd_avail = true; // add termination characters and the prompt into buffer VCOM_putchar('\r'); VCOM_putchar('\n'); @@ -131,6 +131,6 @@ void event_usb_serial(void) } if (cmd_avail) { cmd_execute(); - cmd_avail = FALSE; + cmd_avail = false; } } diff --git a/sw/airborne/modules/com/usb_serial_stm32_example2.c b/sw/airborne/modules/com/usb_serial_stm32_example2.c index 56ae3fc40e..f210509397 100644 --- a/sw/airborne/modules/com/usb_serial_stm32_example2.c +++ b/sw/airborne/modules/com/usb_serial_stm32_example2.c @@ -44,7 +44,7 @@ uint8_t big_buffer[] = void init_usb_serial(void) { VCOM_init(); - run = FALSE; + run = false; } /** @@ -77,10 +77,10 @@ void usb_serial_parse_packet(int data) VCOM_putchar('\n'); if (c == 'S') { - run = FALSE; + run = false; } if (c == 'R') { - run = TRUE; + run = true; } VCOM_send_message(); } diff --git a/sw/airborne/modules/computer_vision/bebop_front_camera.c b/sw/airborne/modules/computer_vision/bebop_front_camera.c index 8fd6515617..cd4636af8a 100644 --- a/sw/airborne/modules/computer_vision/bebop_front_camera.c +++ b/sw/airborne/modules/computer_vision/bebop_front_camera.c @@ -70,9 +70,9 @@ struct bebopfrontcamera_t bebop_front_camera = { .shot_number = 0 }; -void bebop_front_camera_take_shot(bool_t take) +void bebop_front_camera_take_shot(bool take) { - bebop_front_camera.take_shot = TRUE; + bebop_front_camera.take_shot = true; } /** * Handles all the video streaming and saving of the image shots @@ -99,7 +99,7 @@ static void *bebop_front_camera_thread(void *data __attribute__((unused))) } // Start streaming - bebop_front_camera.is_streaming = TRUE; + bebop_front_camera.is_streaming = true; while (bebop_front_camera.is_streaming) { // Wait for a new frame (blocking) struct image_t img; @@ -110,7 +110,7 @@ static void *bebop_front_camera_thread(void *data __attribute__((unused))) if (bebop_front_camera.take_shot) { // Save the image bebop_front_camera_save_shot(&img_color, &img_jpeg, &img); - bebop_front_camera.take_shot = FALSE; + bebop_front_camera.take_shot = false; } jpeg_encode_image(&img_color, &img_jpeg, 80, 0); @@ -190,7 +190,7 @@ void bebop_front_camera_stop(void) } // Stop the streaming thread - bebop_front_camera.is_streaming = FALSE; + bebop_front_camera.is_streaming = false; // Stop the capturing if (!v4l2_stop_capture(bebop_front_camera.dev)) { diff --git a/sw/airborne/modules/computer_vision/bebop_front_camera.h b/sw/airborne/modules/computer_vision/bebop_front_camera.h index 2643f28be3..afaf5255af 100644 --- a/sw/airborne/modules/computer_vision/bebop_front_camera.h +++ b/sw/airborne/modules/computer_vision/bebop_front_camera.h @@ -38,12 +38,12 @@ struct bebopfrontcamera_t { struct v4l2_device *dev; ///< The V4L2 device that is used for the video stream uint8_t fps; ///< The amount of frames per second - volatile bool_t take_shot; ///< Wether to take an image + volatile bool take_shot; ///< Wether to take an image uint16_t shot_number; ///< The last shot number - volatile bool_t is_streaming; ///< When the device is streaming + volatile bool is_streaming; ///< When the device is streaming uint8_t downsize_factor; ///< Downsize factor during the stream uint8_t quality_factor; ///< Quality factor during the stream - bool_t use_rtp; ///< Stream over RTP + bool use_rtp; ///< Stream over RTP }; extern struct bebopfrontcamera_t bebop_front_camera; @@ -52,7 +52,7 @@ extern void bebop_front_camera_init(void); extern void bebop_front_camera_periodic(void); ///< A dummy for now extern void bebop_front_camera_start(void); extern void bebop_front_camera_stop(void); -extern void bebop_front_camera_take_shot(bool_t take); +extern void bebop_front_camera_take_shot(bool take); #endif /* BEBOP_FRONT_CAMERA_H */ diff --git a/sw/airborne/modules/computer_vision/cv_blob_locator.c b/sw/airborne/modules/computer_vision/cv_blob_locator.c index 03e65456d8..b14d689811 100644 --- a/sw/airborne/modules/computer_vision/cv_blob_locator.c +++ b/sw/airborne/modules/computer_vision/cv_blob_locator.c @@ -48,9 +48,9 @@ int record_video = 0; volatile uint32_t blob_locator = 0; -volatile bool_t blob_enabled = FALSE; -volatile bool_t marker_enabled = FALSE; -volatile bool_t window_enabled = FALSE; +volatile bool blob_enabled = false; +volatile bool marker_enabled = false; +volatile bool window_enabled = false; // Computer vision thread struct image_t* cv_marker_func(struct image_t *img); @@ -255,24 +255,24 @@ void cv_blob_locator_event(void) { switch (cv_blob_locator_type) { case 1: - blob_enabled = TRUE; - marker_enabled = FALSE; - window_enabled = FALSE; + blob_enabled = true; + marker_enabled = false; + window_enabled = false; break; case 2: - blob_enabled = FALSE; - marker_enabled = TRUE; - window_enabled = FALSE; + blob_enabled = false; + marker_enabled = true; + window_enabled = false; break; case 3: - blob_enabled = FALSE; - marker_enabled = FALSE; - window_enabled = TRUE; + blob_enabled = false; + marker_enabled = false; + window_enabled = true; break; default: - blob_enabled = FALSE; - marker_enabled = FALSE; - window_enabled = FALSE; + blob_enabled = false; + marker_enabled = false; + window_enabled = false; break; } if (blob_locator != 0) { diff --git a/sw/airborne/modules/computer_vision/cv_blob_locator.h b/sw/airborne/modules/computer_vision/cv_blob_locator.h index 4f7e86707d..6ed3738a4d 100644 --- a/sw/airborne/modules/computer_vision/cv_blob_locator.h +++ b/sw/airborne/modules/computer_vision/cv_blob_locator.h @@ -54,9 +54,9 @@ extern void cv_blob_locator_stop(void); cv_blob_locator_start(); \ } -#define StartVision(X) { start_vision(); FALSE; } -#define StartVisionLand(X) { start_vision_land(); FALSE; } -#define StopVision(X) { stop_vision(); FALSE; } +#define StartVision(X) { start_vision(); false; } +#define StartVisionLand(X) { start_vision_land(); false; } +#define StopVision(X) { stop_vision(); false; } extern void start_vision(void); diff --git a/sw/airborne/modules/computer_vision/cv_georeference.c b/sw/airborne/modules/computer_vision/cv_georeference.c index 6d43c3437c..b589e10797 100644 --- a/sw/airborne/modules/computer_vision/cv_georeference.c +++ b/sw/airborne/modules/computer_vision/cv_georeference.c @@ -116,7 +116,7 @@ void georeference_project(struct camera_frame_t *tar, int wp) } } -void georeference_filter(bool_t kalman, int wp, int length) +void georeference_filter(bool kalman, int wp, int length) { struct Int32Vect3 err; diff --git a/sw/airborne/modules/computer_vision/cv_georeference.h b/sw/airborne/modules/computer_vision/cv_georeference.h index c016e33986..9978065e41 100644 --- a/sw/airborne/modules/computer_vision/cv_georeference.h +++ b/sw/airborne/modules/computer_vision/cv_georeference.h @@ -43,7 +43,7 @@ struct camera_frame_t { }; void georeference_project(struct camera_frame_t *tar, int wp); -void georeference_filter(bool_t kalman, int wp, int length); +void georeference_filter(bool kalman, int wp, int length); #endif diff --git a/sw/airborne/modules/computer_vision/lib/encoding/jpeg.c b/sw/airborne/modules/computer_vision/lib/encoding/jpeg.c index a957574fb9..bfa375eeca 100644 --- a/sw/airborne/modules/computer_vision/lib/encoding/jpeg.c +++ b/sw/airborne/modules/computer_vision/lib/encoding/jpeg.c @@ -422,7 +422,7 @@ void MakeTables(int q) * @param[in] quality_factor Quality factor of the encoding (0-99) * @param[in] add_dri_header Add the DRI header (needed for full JPEG) */ -void jpeg_encode_image(struct image_t *in, struct image_t *out, uint32_t quality_factor, bool_t add_dri_header) +void jpeg_encode_image(struct image_t *in, struct image_t *out, uint32_t quality_factor, bool add_dri_header) { uint16_t i, j; uint8_t *output_ptr = out->buf; diff --git a/sw/airborne/modules/computer_vision/lib/encoding/jpeg.h b/sw/airborne/modules/computer_vision/lib/encoding/jpeg.h index 1895cb3eb1..263feecb4d 100644 --- a/sw/airborne/modules/computer_vision/lib/encoding/jpeg.h +++ b/sw/airborne/modules/computer_vision/lib/encoding/jpeg.h @@ -32,7 +32,7 @@ #define RGB 4 /* JPEG encode an image */ -void jpeg_encode_image(struct image_t *in, struct image_t *out, uint32_t quality_factor, bool_t add_dri_header); +void jpeg_encode_image(struct image_t *in, struct image_t *out, uint32_t quality_factor, bool add_dri_header); /* Create an SVS header */ int jpeg_create_svs_header(unsigned char *buf, int32_t size, int w); diff --git a/sw/airborne/modules/computer_vision/lib/v4l/v4l2.c b/sw/airborne/modules/computer_vision/lib/v4l/v4l2.c index 857da3174e..ccdc4a40d4 100644 --- a/sw/airborne/modules/computer_vision/lib/v4l/v4l2.c +++ b/sw/airborne/modules/computer_vision/lib/v4l/v4l2.c @@ -127,7 +127,7 @@ static void *v4l2_capture_thread(void *data) * @param[in] width,height The width and height of the images * @return Whether the subdevice was successfully initialized */ -bool_t v4l2_init_subdev(char *subdev_name, uint8_t pad, uint8_t which, uint16_t code, uint16_t width, uint16_t height) +bool v4l2_init_subdev(char *subdev_name, uint8_t pad, uint8_t which, uint16_t code, uint16_t width, uint16_t height) { struct v4l2_subdev_format sfmt; CLEAR(sfmt); @@ -136,14 +136,14 @@ bool_t v4l2_init_subdev(char *subdev_name, uint8_t pad, uint8_t which, uint16_t int fd = open(subdev_name, O_RDWR, 0); if (fd < 0) { printf("[v4l2] Cannot open subdevice '%s': %d, %s\n", subdev_name, errno, strerror(errno)); - return FALSE; + return false; } // Try to get the subdevice data format settings if (ioctl(fd, VIDIOC_SUBDEV_G_FMT, &sfmt) < 0) { printf("[v4l2] Could not get subdevice data format settings of %s\n", subdev_name); close(fd); - return FALSE; + return false; } // Set the new settings @@ -158,12 +158,12 @@ bool_t v4l2_init_subdev(char *subdev_name, uint8_t pad, uint8_t which, uint16_t if (ioctl(fd, VIDIOC_SUBDEV_S_FMT, &sfmt) < 0) { printf("[v4l2] Could not set subdevice data format settings of %s\n", subdev_name); close(fd); - return FALSE; + return false; } // Close the device close(fd); - return TRUE; + return true; } /** @@ -329,7 +329,7 @@ void v4l2_image_get(struct v4l2_device *dev, struct image_t *img) * @param[out] *img The image that we got from the video device * @return Whether we got an image or not */ -bool_t v4l2_image_get_nonblock(struct v4l2_device *dev, struct image_t *img) +bool v4l2_image_get_nonblock(struct v4l2_device *dev, struct image_t *img) { uint16_t img_idx = V4L2_IMG_NONE; @@ -343,7 +343,7 @@ bool_t v4l2_image_get_nonblock(struct v4l2_device *dev, struct image_t *img) // Check if we really got an image if (img_idx == V4L2_IMG_NONE) { - return FALSE; + return false; } else { // Set the image img->type = IMAGE_YUV422; @@ -353,7 +353,7 @@ bool_t v4l2_image_get_nonblock(struct v4l2_device *dev, struct image_t *img) img->buf_size = dev->buffers[img_idx].length; img->buf = dev->buffers[img_idx].buf; memcpy(&img->ts, &dev->buffers[img_idx].timestamp, sizeof(struct timeval)); - return TRUE; + return true; } } @@ -384,7 +384,7 @@ void v4l2_image_free(struct v4l2_device *dev, struct image_t *img) * but keep in mind that if it is already started it will * return FALSE. */ -bool_t v4l2_start_capture(struct v4l2_device *dev) +bool v4l2_start_capture(struct v4l2_device *dev) { uint8_t i; enum v4l2_buf_type type; @@ -392,7 +392,7 @@ bool_t v4l2_start_capture(struct v4l2_device *dev) // Check if not already running if (dev->thread != (pthread_t)NULL) { printf("[v4l2] There is already a capturing thread running for %s\n", dev->name); - return FALSE; + return false; } // Enqueue all buffers @@ -406,7 +406,7 @@ bool_t v4l2_start_capture(struct v4l2_device *dev) buf.index = i; if (ioctl(dev->fd, VIDIOC_QBUF, &buf) < 0) { printf("[v4l2] Could not enqueue buffer %d during start capture for %s\n", i, dev->name); - return FALSE; + return false; } } @@ -414,7 +414,7 @@ bool_t v4l2_start_capture(struct v4l2_device *dev) type = V4L2_BUF_TYPE_VIDEO_CAPTURE; if (ioctl(dev->fd, VIDIOC_STREAMON, &type) < 0) { printf("[v4l2] Could not start stream of %s, %d %s\n", dev->name, errno, strerror(errno)); - return FALSE; + return false; } //Start the capturing thread @@ -430,10 +430,10 @@ bool_t v4l2_start_capture(struct v4l2_device *dev) // Reset the thread dev->thread = (pthread_t) NULL; - return FALSE; + return false; } - return TRUE; + return true; } /** @@ -443,33 +443,33 @@ bool_t v4l2_start_capture(struct v4l2_device *dev) * @return TRUE if it successfully stopped capturing. Note that it also returns FALSE * when the capturing is already stopped. */ -bool_t v4l2_stop_capture(struct v4l2_device *dev) +bool v4l2_stop_capture(struct v4l2_device *dev) { enum v4l2_buf_type type; // First check if still running if (dev->thread == (pthread_t) NULL) { printf("[v4l2] Already stopped capture for %s\n", dev->name); - return FALSE; + return false; } // Stop the stream type = V4L2_BUF_TYPE_VIDEO_CAPTURE; if (ioctl(dev->fd, VIDIOC_STREAMOFF, &type) < 0) { printf("[v4l2] Could not stop stream of %s\n", dev->name); - return FALSE; + return false; } // Stop the thread if (pthread_cancel(dev->thread) < 0) { printf("[v4l2] Could not cancel thread for %s\n", dev->name); - return FALSE; + return false; } // Wait for the thread to be finished pthread_join(dev->thread, NULL); dev->thread = (pthread_t) NULL; - return TRUE; + return true; } /** diff --git a/sw/airborne/modules/computer_vision/lib/v4l/v4l2.h b/sw/airborne/modules/computer_vision/lib/v4l/v4l2.h index 3d211a9448..29c2174f5d 100644 --- a/sw/airborne/modules/computer_vision/lib/v4l/v4l2.h +++ b/sw/airborne/modules/computer_vision/lib/v4l/v4l2.h @@ -58,14 +58,14 @@ struct v4l2_device { }; /* External functions */ -bool_t v4l2_init_subdev(char *subdev_name, uint8_t pad, uint8_t which, uint16_t code, uint16_t width, uint16_t height); +bool v4l2_init_subdev(char *subdev_name, uint8_t pad, uint8_t which, uint16_t code, uint16_t width, uint16_t height); struct v4l2_device *v4l2_init(char *device_name, uint16_t width, uint16_t height, uint8_t buffers_cnt, uint32_t _pixelformat); void v4l2_image_get(struct v4l2_device *dev, struct image_t *img); -bool_t v4l2_image_get_nonblock(struct v4l2_device *dev, struct image_t *img); +bool v4l2_image_get_nonblock(struct v4l2_device *dev, struct image_t *img); void v4l2_image_free(struct v4l2_device *dev, struct image_t *img); -bool_t v4l2_start_capture(struct v4l2_device *dev); -bool_t v4l2_stop_capture(struct v4l2_device *dev); +bool v4l2_start_capture(struct v4l2_device *dev); +bool v4l2_stop_capture(struct v4l2_device *dev); void v4l2_close(struct v4l2_device *dev); #endif /* _CV_LIB_V4L2_H */ diff --git a/sw/airborne/modules/computer_vision/lib/vision/bayer.h b/sw/airborne/modules/computer_vision/lib/vision/bayer.h index c9fd9c97cb..e09eda84f2 100644 --- a/sw/airborne/modules/computer_vision/lib/vision/bayer.h +++ b/sw/airborne/modules/computer_vision/lib/vision/bayer.h @@ -77,18 +77,18 @@ void BayerToYUV(struct image_t *in, struct image_t *out, uint16_t R2 = ii[i + j * in->w + 1] / 2; uint16_t B2 = ii[i + (j + 1) * in->w] / 2; - uint32_t u, y1, v, y2; + uint32_t u, my1, v, my2; - y1 = (0.256788 * R1 + 0.504129 * G1 + 0.097906 * B1) / 128 + 16; - y2 = (0.256788 * R2 + 0.504129 * G2 + 0.097906 * B2) / 128 + 16; + my1 = (0.256788 * R1 + 0.504129 * G1 + 0.097906 * B1) / 128 + 16; + my2 = (0.256788 * R2 + 0.504129 * G2 + 0.097906 * B2) / 128 + 16; u = (-0.148223 * (R1 + R2) - 0.290993 * (G1 + G2) + 0.439216 * (B1 + B2)) / 256 + 128; v = (0.439216 * (R1 + R2) - 0.367788 * (G1 + G2) - 0.071427 * (B1 + B2)) / 256 + 128; oi[(x + y * out->w) * 2] = clip(u); - oi[(x + y * out->w) * 2 + 1] = clip(y1); + oi[(x + y * out->w) * 2 + 1] = clip(my1); oi[(x + y * out->w) * 2 + 2] = clip(v); - oi[(x + y * out->w) * 2 + 3] = clip(y2); + oi[(x + y * out->w) * 2 + 3] = clip(my2); } else { oi[(x + y * out->w) * 2] = 0; oi[(x + y * out->w) * 2 + 1] = 0; diff --git a/sw/airborne/modules/computer_vision/lib/vision/fast_rosten.c b/sw/airborne/modules/computer_vision/lib/vision/fast_rosten.c index 2444140b66..4def67673b 100644 --- a/sw/airborne/modules/computer_vision/lib/vision/fast_rosten.c +++ b/sw/airborne/modules/computer_vision/lib/vision/fast_rosten.c @@ -67,13 +67,13 @@ struct point_t *fast9_detect(struct image_t *img, uint8_t threshold, uint16_t mi for (x = 3 + x_padding; x < img->w - 3 - x_padding; x++) { // First check if we aren't in range vertical (TODO: fix less intensive way) if (min_dist > 0) { - bool_t need_skip = FALSE; + bool need_skip = false; // Go trough all the previous corners for (i = 0; i < corner_cnt; i++) { if (x - min_dist < ret_corners[i].x && ret_corners[i].x < x + min_dist && y - min_dist < ret_corners[i].y && ret_corners[i].y < y + min_dist) { - need_skip = TRUE; + need_skip = true; break; } } diff --git a/sw/airborne/modules/computer_vision/lib/vision/lucas_kanade.c b/sw/airborne/modules/computer_vision/lib/vision/lucas_kanade.c index 712ccafc26..32641aab7b 100644 --- a/sw/airborne/modules/computer_vision/lib/vision/lucas_kanade.c +++ b/sw/airborne/modules/computer_vision/lib/vision/lucas_kanade.c @@ -1,10 +1,3 @@ -/* - * lucas_kanade.c - * - * Created on: Jan 11, 2016 - * Author: hrvoje - */ - /* * Copyright (C) 2014 G. de Croon * 2015 Freek van Tienen @@ -44,6 +37,8 @@ /** + * @file lucas_kanade.c + * * Compute the optical flow of several points using the pyramidal Lucas-Kanade algorithm by Yves Bouguet * The initial fixed-point implementation is done by G. de Croon and is adapted by * Freek van Tienen for the implementation in Paparazzi. @@ -59,27 +54,26 @@ * @param[in] max_points The maximum amount of points to track, we skip x points and then take a point. * @param[in] pyramid_level Level of pyramid used in computation (0 == no pyramids used) * @return The vectors from the original *points in subpixels + * + * Pyramidal implementation of Lucas-Kanade feature tracker. + * + * Uses input images to build pyramid of padded images. + *

For every pyramid level:

+ *

For all points:

+ * - (1) determine the subpixel neighborhood in the old image + * - (2) get the x- and y- gradients + * - (3) determine the 'G'-matrix [sum(Axx) sum(Axy); sum(Axy) sum(Ayy)], where sum is over the window + * - (4) iterate over taking steps in the image to minimize the error: + * + [a] get the subpixel neighborhood in the new image + * + [b] determine the image difference between the two neighborhoods + * + [c] calculate the 'b'-vector + * + [d] calculate the additional flow step and possibly terminate the iteration + * - (5) use calculated flow as initial flow estimation for next level of pyramid */ struct flow_t *opticFlowLK(struct image_t *new_img, struct image_t *old_img, struct point_t *points, uint16_t *points_cnt, uint16_t half_window_size, uint16_t subpixel_factor, uint8_t max_iterations, uint8_t step_threshold, uint8_t max_points, uint8_t pyramid_level) { - - - // Pyramidal implementation of Lucas-Kanade feature tracker. - // Uses input images to build pyramid of padded images. - // For every pyramid level: - // For all points: - // (1) determine the subpixel neighborhood in the old image - // (2) get the x- and y- gradients - // (3) determine the 'G'-matrix [sum(Axx) sum(Axy); sum(Axy) sum(Ayy)], where sum is over the window - // (4) iterate over taking steps in the image to minimize the error: - // [a] get the subpixel neighborhood in the new image - // [b] determine the image difference between the two neighborhoods - // [c] calculate the 'b'-vector - // [d] calculate the additional flow step and possibly terminate the iteration - // (5) use calculated flow as initial flow estimation for next level of pyramid - // Allocate some memory for returning the vectors struct flow_t *vectors = malloc(sizeof(struct flow_t) * max_points); @@ -162,7 +156,7 @@ struct flow_t *opticFlowLK(struct image_t *new_img, struct image_t *old_img, str } // (4) iterate over taking steps in the image to minimize the error: - bool_t tracked = TRUE; + bool tracked = true; for (uint8_t it = max_iterations; it--;) { struct point_t new_point = { vectors[new_p].pos.x + vectors[new_p].flow_x, @@ -175,7 +169,7 @@ struct flow_t *opticFlowLK(struct image_t *new_img, struct image_t *old_img, str || (new_point.x > ((pyramid_new[LVL].w - 1 - 2 * border_size)*subpixel_factor)) || (((int32_t)vectors[new_p].pos.y + vectors[new_p].flow_y) < 0) || (new_point.y > ((pyramid_new[LVL].h - 1 - 2 * border_size)*subpixel_factor))) { - tracked = FALSE; + tracked = false; break; } @@ -186,7 +180,7 @@ struct flow_t *opticFlowLK(struct image_t *new_img, struct image_t *old_img, str uint32_t error = image_difference(&window_I, &window_J, &window_diff); if (error > error_threshold && it < max_iterations / 2) { - tracked = FALSE; + tracked = false; break; } diff --git a/sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.c b/sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.c index 12a2b140c7..e324640a15 100644 --- a/sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.c +++ b/sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.c @@ -156,7 +156,7 @@ void opticflow_calc_init(struct opticflow_t *opticflow, uint16_t w, uint16_t h) image_create(&opticflow->prev_img_gray, w, h, IMAGE_GRAYSCALE); /* Set the previous values */ - opticflow->got_first_img = FALSE; + opticflow->got_first_img = false; opticflow->prev_phi = 0.0; opticflow->prev_theta = 0.0; @@ -203,7 +203,7 @@ void calc_fast9_lukas_kanade(struct opticflow_t *opticflow, struct opticflow_sta // Copy to previous image if not set if (!opticflow->got_first_img) { image_copy(&opticflow->img_gray, &opticflow->prev_img_gray); - opticflow->got_first_img = TRUE; + opticflow->got_first_img = true; } // ************************************************************************************* diff --git a/sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.h b/sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.h index 7bff1f2bac..a55302ef24 100644 --- a/sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.h +++ b/sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.h @@ -36,7 +36,7 @@ #include "lib/v4l/v4l2.h" struct opticflow_t { - bool_t got_first_img; ///< If we got a image to work with + bool got_first_img; ///< If we got a image to work with float prev_phi; ///< Phi from the previous image frame float prev_theta; ///< Theta from the previous image frame struct image_t img_gray; ///< Current gray image frame @@ -54,7 +54,7 @@ struct opticflow_t { uint8_t pyramid_level; ///< Number of pyramid levels used in Lucas Kanade algorithm (0 == no pyramids used) uint8_t max_track_corners; ///< Maximum amount of corners Lucas Kanade should track - bool_t fast9_adaptive; ///< Whether the FAST9 threshold should be adaptive + bool fast9_adaptive; ///< Whether the FAST9 threshold should be adaptive uint8_t fast9_threshold; ///< FAST9 corner detection threshold uint16_t fast9_min_distance; ///< Minimum distance in pixels between corners diff --git a/sw/airborne/modules/computer_vision/opticflow_module.c b/sw/airborne/modules/computer_vision/opticflow_module.c index 25c7d37742..4cada86567 100644 --- a/sw/airborne/modules/computer_vision/opticflow_module.c +++ b/sw/airborne/modules/computer_vision/opticflow_module.c @@ -75,7 +75,7 @@ static struct opticflow_state_t opticflow_state; ///< State of the drone to co static struct v4l2_device *opticflow_dev; ///< The opticflow camera V4L2 device static abi_event opticflow_agl_ev; ///< The altitude ABI event static pthread_t opticflow_calc_thread; ///< The optical flow calculation thread -static bool_t opticflow_got_result; ///< When we have an optical flow calculation +static bool opticflow_got_result; ///< When we have an optical flow calculation static pthread_mutex_t opticflow_mutex; ///< Mutex lock fo thread safety struct UdpSocket video_sock; @@ -120,7 +120,7 @@ void opticflow_module_init(void) // Initialize the opticflow calculation opticflow_calc_init(&opticflow, 320, 240); - opticflow_got_result = FALSE; + opticflow_got_result = false; #ifdef OPTICFLOW_SUBDEV PRINT_CONFIG_MSG("[opticflow_module] Configuring a subdevice!") @@ -182,7 +182,7 @@ void opticflow_module_run(void) opticflow_result.noise_measurement ); } - opticflow_got_result = FALSE; + opticflow_got_result = false; } pthread_mutex_unlock(&opticflow_mutex); } @@ -210,13 +210,12 @@ void opticflow_module_start(void) */ void opticflow_module_stop(void) { - // Stop the capturing - v4l2_stop_capture(opticflow_dev); - // Cancel the opticalflow calculation thread if (pthread_cancel(opticflow_calc_thread) != 0) { printf("Thread cancel did not work\n"); } + // Stop the capturing + v4l2_stop_capture(opticflow_dev); } /** @@ -263,7 +262,7 @@ static void *opticflow_module_calc(void *data __attribute__((unused))) // Copy the result if finished pthread_mutex_lock(&opticflow_mutex); memcpy(&opticflow_result, &temp_result, sizeof(struct opticflow_result_t)); - opticflow_got_result = TRUE; + opticflow_got_result = true; pthread_mutex_unlock(&opticflow_mutex); #if OPTICFLOW_DEBUG diff --git a/sw/airborne/modules/computer_vision/qrcode/qr_code.h b/sw/airborne/modules/computer_vision/qrcode/qr_code.h index 907422d34f..b0bb60a71e 100644 --- a/sw/airborne/modules/computer_vision/qrcode/qr_code.h +++ b/sw/airborne/modules/computer_vision/qrcode/qr_code.h @@ -34,7 +34,7 @@ #include "../lib/vision/image.h" extern void qrcode_init(void); -extern bool_t qrscan(struct image_t *img); +extern bool qrscan(struct image_t *img); #endif diff --git a/sw/airborne/modules/computer_vision/video_thread.c b/sw/airborne/modules/computer_vision/video_thread.c index 209d1b01c9..19acb0e179 100644 --- a/sw/airborne/modules/computer_vision/video_thread.c +++ b/sw/airborne/modules/computer_vision/video_thread.c @@ -175,7 +175,7 @@ static void *video_thread_function(void *data) clock_gettime(CLOCK_MONOTONIC, &time_prev); // Start streaming - video_thread.is_running = TRUE; + video_thread.is_running = true; while (video_thread.is_running) { // get time in us since last run @@ -212,7 +212,7 @@ static void *video_thread_function(void *data) // Check if we need to take a shot if (video_thread.take_shot) { video_thread_save_shot(img_final, &img_jpeg); - video_thread.take_shot = FALSE; + video_thread.take_shot = false; } // Run processing if required @@ -290,7 +290,7 @@ void video_thread_stop(void) } // Stop the streaming thread - video_thread.is_running = FALSE; + video_thread.is_running = false; // Stop the capturing if (!v4l2_stop_capture(video_thread.dev)) { @@ -305,7 +305,7 @@ void video_thread_stop(void) * Take a shot and save it * This will only work when the streaming is enabled */ -void video_thread_take_shot(bool_t take) +void video_thread_take_shot(bool take) { video_thread.take_shot = take; } diff --git a/sw/airborne/modules/computer_vision/video_thread.h b/sw/airborne/modules/computer_vision/video_thread.h index 818f2f257d..2f9a3e4f43 100644 --- a/sw/airborne/modules/computer_vision/video_thread.h +++ b/sw/airborne/modules/computer_vision/video_thread.h @@ -34,11 +34,11 @@ // Main video_thread structure struct video_thread_t { - volatile bool_t is_running; ///< When the device is running + volatile bool is_running; ///< When the device is running struct v4l2_device *dev; ///< The V4L2 device that is used for the video stream uint8_t fps; ///< The amount of frames per second - volatile bool_t take_shot; ///< Wether to take an image + volatile bool take_shot; ///< Wether to take an image uint16_t shot_number; ///< The last shot number }; extern struct video_thread_t video_thread; @@ -48,7 +48,7 @@ extern void video_thread_init(void); extern void video_thread_periodic(void); ///< A dummy for now extern void video_thread_start(void); extern void video_thread_stop(void); -extern void video_thread_take_shot(bool_t take); +extern void video_thread_take_shot(bool take); #endif /* VIDEO_THREAD_H */ diff --git a/sw/airborne/modules/computer_vision/video_thread_nps.c b/sw/airborne/modules/computer_vision/video_thread_nps.c index 042bf5c3f8..4940c2c819 100644 --- a/sw/airborne/modules/computer_vision/video_thread_nps.c +++ b/sw/airborne/modules/computer_vision/video_thread_nps.c @@ -74,4 +74,4 @@ void video_thread_periodic(void) void video_thread_start(void) {} void video_thread_stop(void) {} -void video_thread_take_shot(bool_t take __attribute__((unused))) {} +void video_thread_take_shot(bool take __attribute__((unused))) {} diff --git a/sw/airborne/modules/computer_vision/viewvideo.c b/sw/airborne/modules/computer_vision/viewvideo.c index 4f5283f66e..d00977276d 100644 --- a/sw/airborne/modules/computer_vision/viewvideo.c +++ b/sw/airborne/modules/computer_vision/viewvideo.c @@ -201,7 +201,7 @@ void viewvideo_init(void) cv_add(viewvideo_function); - viewvideo.is_streaming = TRUE; + viewvideo.is_streaming = true; #if VIEWVIDEO_USE_NETCAT // Create an Netcat receiver file for the streaming diff --git a/sw/airborne/modules/computer_vision/viewvideo.h b/sw/airborne/modules/computer_vision/viewvideo.h index 64d1dba6db..cb44ee5785 100644 --- a/sw/airborne/modules/computer_vision/viewvideo.h +++ b/sw/airborne/modules/computer_vision/viewvideo.h @@ -36,10 +36,10 @@ // Main viewvideo structure struct viewvideo_t { - volatile bool_t is_streaming; ///< When the device is streaming + volatile bool is_streaming; ///< When the device is streaming uint8_t downsize_factor; ///< Downsize factor during the stream uint8_t quality_factor; ///< Quality factor during the stream - bool_t use_rtp; ///< Stream over RTP + bool use_rtp; ///< Stream over RTP }; extern struct viewvideo_t viewvideo; diff --git a/sw/airborne/modules/computer_vision/viewvideo_nps.c b/sw/airborne/modules/computer_vision/viewvideo_nps.c index ad6acaa3da..cd1120521d 100644 --- a/sw/airborne/modules/computer_vision/viewvideo_nps.c +++ b/sw/airborne/modules/computer_vision/viewvideo_nps.c @@ -39,4 +39,4 @@ void viewvideo_init(void) {} void viewvideo_periodic(void) {} void viewvideo_start(void) {} void viewvideo_stop(void) {} -void viewvideo_take_shot(bool_t take __attribute__((unused))) {} +void viewvideo_take_shot(bool take __attribute__((unused))) {} diff --git a/sw/airborne/modules/core/trigger_ext.c b/sw/airborne/modules/core/trigger_ext.c index afdc003616..3b60e712c4 100644 --- a/sw/airborne/modules/core/trigger_ext.c +++ b/sw/airborne/modules/core/trigger_ext.c @@ -32,5 +32,5 @@ uint32_t trigger_t0; uint32_t trigger_delta_t0; -volatile bool_t trigger_ext_valid; +volatile bool trigger_ext_valid; diff --git a/sw/airborne/modules/core/trigger_ext.h b/sw/airborne/modules/core/trigger_ext.h index d1fdf07ad7..790cfd9ec5 100644 --- a/sw/airborne/modules/core/trigger_ext.h +++ b/sw/airborne/modules/core/trigger_ext.h @@ -40,7 +40,7 @@ extern uint32_t trigger_t0; extern uint32_t trigger_delta_t0; -extern volatile bool_t trigger_ext_valid; +extern volatile bool trigger_ext_valid; void trigger_ext_init(void); diff --git a/sw/airborne/modules/ctrl/ctrl_module_demo.c b/sw/airborne/modules/ctrl/ctrl_module_demo.c index a86bc71713..b24607938b 100644 --- a/sw/airborne/modules/ctrl/ctrl_module_demo.c +++ b/sw/airborne/modules/ctrl/ctrl_module_demo.c @@ -43,7 +43,7 @@ float ctrl_module_demo_y_ff_gain = 0.4f; // Yaw float ctrl_module_demo_y_d_gain = 0.05f; void ctrl_module_init(void); -void ctrl_module_run(bool_t in_flight); +void ctrl_module_run(bool in_flight); void ctrl_module_init(void) { @@ -54,7 +54,7 @@ void ctrl_module_init(void) } // simple rate control without reference model nor attitude -void ctrl_module_run(bool_t in_flight) +void ctrl_module_run(bool in_flight) { if (!in_flight) { // Reset integrators @@ -96,7 +96,7 @@ void guidance_h_module_read_rc(void) ctrl_module_demo.rc_z = radio_control.values[RADIO_YAW]; } -void guidance_h_module_run(bool_t in_flight) +void guidance_h_module_run(bool in_flight) { // Call full inner-/outerloop / horizontal-/vertical controller: ctrl_module_run(in_flight); @@ -113,7 +113,7 @@ void guidance_v_module_enter(void) // your code that should be executed when entering this vertical mode goes here } -void guidance_v_module_run(UNUSED bool_t in_flight) +void guidance_v_module_run(UNUSED bool in_flight) { // your vertical controller goes here } diff --git a/sw/airborne/modules/ctrl/ctrl_module_demo.h b/sw/airborne/modules/ctrl/ctrl_module_demo.h index 67d20c03dd..4d84ae6891 100644 --- a/sw/airborne/modules/ctrl/ctrl_module_demo.h +++ b/sw/airborne/modules/ctrl/ctrl_module_demo.h @@ -47,11 +47,11 @@ extern float ctrl_module_demo_y_d_gain; extern void guidance_h_module_init(void); extern void guidance_h_module_enter(void); extern void guidance_h_module_read_rc(void); -extern void guidance_h_module_run(bool_t in_flight); +extern void guidance_h_module_run(bool in_flight); // Implement own Vertical loops extern void guidance_v_module_init(void); extern void guidance_v_module_enter(void); -extern void guidance_v_module_run(bool_t in_flight); +extern void guidance_v_module_run(bool in_flight); #endif /* CTRL_MODULE_DEMO_H_ */ diff --git a/sw/airborne/modules/ctrl/vertical_ctrl_module_demo.c b/sw/airborne/modules/ctrl/vertical_ctrl_module_demo.c index 3b33cd489b..14ce2bddf7 100644 --- a/sw/airborne/modules/ctrl/vertical_ctrl_module_demo.c +++ b/sw/airborne/modules/ctrl/vertical_ctrl_module_demo.c @@ -54,7 +54,7 @@ struct VerticalCtrlDemo v_ctrl; void vertical_ctrl_module_init(void); -void vertical_ctrl_module_run(bool_t in_flight); +void vertical_ctrl_module_run(bool in_flight); void vertical_ctrl_module_init(void) { @@ -69,7 +69,7 @@ void vertical_ctrl_module_init(void) } -void vertical_ctrl_module_run(bool_t in_flight) +void vertical_ctrl_module_run(bool in_flight) { if (!in_flight) { // Reset integrators @@ -104,7 +104,7 @@ void guidance_v_module_enter(void) v_ctrl.sum_err = 0.0f; } -void guidance_v_module_run(bool_t in_flight) +void guidance_v_module_run(bool in_flight) { vertical_ctrl_module_run(in_flight); } diff --git a/sw/airborne/modules/ctrl/vertical_ctrl_module_demo.h b/sw/airborne/modules/ctrl/vertical_ctrl_module_demo.h index 00ce243323..d5f834c3c7 100644 --- a/sw/airborne/modules/ctrl/vertical_ctrl_module_demo.h +++ b/sw/airborne/modules/ctrl/vertical_ctrl_module_demo.h @@ -49,6 +49,6 @@ extern struct VerticalCtrlDemo v_ctrl; // Implement own Vertical loops extern void guidance_v_module_init(void); extern void guidance_v_module_enter(void); -extern void guidance_v_module_run(bool_t in_flight); +extern void guidance_v_module_run(bool in_flight); #endif /* VERTICAL_CTRL_MODULE_DEMO_H_ */ diff --git a/sw/airborne/modules/datalink/mavlink_decoder.h b/sw/airborne/modules/datalink/mavlink_decoder.h index d93d482d26..d4a33d87f5 100644 --- a/sw/airborne/modules/datalink/mavlink_decoder.h +++ b/sw/airborne/modules/datalink/mavlink_decoder.h @@ -216,7 +216,7 @@ static inline void parse_mavlink(struct mavlink_transport *t, uint8_t c) if (c != (t->checksum >> 8)) { goto error; } - t->trans.msg_received = TRUE; + t->trans.msg_received = true; goto restart; default: goto error; @@ -259,7 +259,7 @@ static inline void mavlink_check_and_parse(struct link_device *dev, struct mavli } if (trans->trans.msg_received) { mavlink_parse_payload(trans); - trans->trans.msg_received = FALSE; + trans->trans.msg_received = false; } } } diff --git a/sw/airborne/modules/datalink/xtend_rssi.c b/sw/airborne/modules/datalink/xtend_rssi.c index 44b7093117..df91ea0830 100644 --- a/sw/airborne/modules/datalink/xtend_rssi.c +++ b/sw/airborne/modules/datalink/xtend_rssi.c @@ -56,7 +56,7 @@ void xtend_rssi_periodic(void) if (pwm_input_duty_valid[XTEND_RSSI_PWM_ARRAY_INDEX]) { duty_percent = (duty_tics * 100) / cpu_ticks_of_usec(XTEND_RSSI_PWM_PERIOD_USEC); rssi_dB_fade_margin = (2 * duty_percent + 10) / 3; //not sure if this is right, datasheet isn't very informative - pwm_input_duty_valid[XTEND_RSSI_PWM_ARRAY_INDEX] = FALSE; + pwm_input_duty_valid[XTEND_RSSI_PWM_ARRAY_INDEX] = false; } DOWNLINK_SEND_XTEND_RSSI(DefaultChannel, DefaultDevice, &datalink_time, diff --git a/sw/airborne/modules/digital_cam/catia/catia.c b/sw/airborne/modules/digital_cam/catia/catia.c index 2cc93adf57..305edb0f0e 100644 --- a/sw/airborne/modules/digital_cam/catia/catia.c +++ b/sw/airborne/modules/digital_cam/catia/catia.c @@ -61,7 +61,7 @@ int main(int argc, char *argv[]) // Parse serial commands if (mora_protocol.msg_received) { // Process Only Once - mora_protocol.msg_received = FALSE; + mora_protocol.msg_received = false; // Shoot an image if not busy if (mora_protocol.msg_id == MORA_SHOOT) { diff --git a/sw/airborne/modules/digital_cam/catia/protocol.c b/sw/airborne/modules/digital_cam/catia/protocol.c index 647ae72e02..02f8379e3c 100644 --- a/sw/airborne/modules/digital_cam/catia/protocol.c +++ b/sw/airborne/modules/digital_cam/catia/protocol.c @@ -63,7 +63,7 @@ void parse_mora(struct mora_transport *t, uint8_t c) if (c != t->ck_b) { goto error; } - t->msg_received = TRUE; + t->msg_received = true; goto restart; default: goto error; diff --git a/sw/airborne/modules/digital_cam/catia/protocol.h b/sw/airborne/modules/digital_cam/catia/protocol.h index 8c06ff1cc8..9ecee1bc9f 100644 --- a/sw/airborne/modules/digital_cam/catia/protocol.h +++ b/sw/airborne/modules/digital_cam/catia/protocol.h @@ -38,6 +38,7 @@ #define MORA_TRANSPORT_H #include +#include #include "std.h" ///////////////////////////////////////////////////////////////////// @@ -131,7 +132,7 @@ struct mora_transport { uint8_t payload[256]; uint8_t error; uint8_t msg_id; - uint8_t msg_received; + bool msg_received; uint8_t payload_len; // specific pprz transport variables uint8_t status; diff --git a/sw/airborne/modules/digital_cam/catia/serial.h b/sw/airborne/modules/digital_cam/catia/serial.h index 5dead8683b..637ed1e766 100644 --- a/sw/airborne/modules/digital_cam/catia/serial.h +++ b/sw/airborne/modules/digital_cam/catia/serial.h @@ -8,7 +8,7 @@ int serial_init(char *port_name); static inline int ttyUSB0ChAvailable(void) { - return FALSE; + return false; } #define ttyUSB0Transmit(_char) \ diff --git a/sw/airborne/modules/display/max7456.c b/sw/airborne/modules/display/max7456.c index a66bdaff7a..0ef5f3bb62 100644 --- a/sw/airborne/modules/display/max7456.c +++ b/sw/airborne/modules/display/max7456.c @@ -54,7 +54,7 @@ static char ascii_to_osd_c(char c); static void osd_put_s(char *string, uint8_t attributes, uint8_t char_nb, uint8_t row, uint8_t column); -static bool_t _osd_sprintf(char *buffer, char *string, float value); +static bool _osd_sprintf(char *buffer, char *string, float value); struct spi_transaction max7456_trans; @@ -65,7 +65,7 @@ char osd_str_buf[OSD_STRING_SIZE]; char osd_char = ' '; uint8_t step = 0; uint16_t osd_char_address = 0; -uint8_t osd_attr = FALSE; +uint8_t osd_attr = false; enum max7456_osd_status_codes { OSD_UNINIT, @@ -87,10 +87,10 @@ enum osd_attributes { }; uint8_t max7456_osd_status = OSD_UNINIT; -uint8_t osd_enable = TRUE; +uint8_t osd_enable = true; uint8_t osd_enable_val = OSD_IMAGE_ENABLE; uint8_t osd_stat_reg = 0; -bool_t osd_stat_reg_valid = FALSE; +bool osd_stat_reg_valid = false; void max7456_init(void) { @@ -234,7 +234,7 @@ void max7456_event(void) break; case (OSD_READ_STATUS): osd_stat_reg = max7456_trans.input_buf[0]; - osd_stat_reg_valid = TRUE; + osd_stat_reg_valid = true; max7456_osd_status = OSD_FINISHED; break; case (OSD_S_STEP1): @@ -362,7 +362,7 @@ static void osd_put_s(char *string, uint8_t attributes, uint8_t char_nb, uint8_t } // A VERY VERY STRIPED DOWN sprintf function suitable only for the paparazzi OSD. -static bool_t _osd_sprintf(char *buffer, char *string, float value) +static bool _osd_sprintf(char *buffer, char *string, float value) { uint8_t param_start = 0; diff --git a/sw/airborne/modules/enose/anemotaxis.c b/sw/airborne/modules/enose/anemotaxis.c index ba9589009f..d62b518194 100644 --- a/sw/airborne/modules/enose/anemotaxis.c +++ b/sw/airborne/modules/enose/anemotaxis.c @@ -18,16 +18,16 @@ static void last_plume_was_here(void) last_plume.y = stateGetPositionEnu_f()->y; } -bool_t nav_anemotaxis_downwind(uint8_t c, float radius) +bool nav_anemotaxis_downwind(uint8_t c, float radius) { struct FloatVect2 *wind = stateGetHorizontalWindspeed_f(); float wind_dir = atan2(wind->x, wind->y); waypoints[c].x = waypoints[WP_HOME].x + radius * cos(wind_dir); waypoints[c].y = waypoints[WP_HOME].y + radius * sin(wind_dir); - return FALSE; + return false; } -bool_t nav_anemotaxis_init(uint8_t c) +bool nav_anemotaxis_init(uint8_t c) { status = UTURN; sign = 1; @@ -36,10 +36,10 @@ bool_t nav_anemotaxis_init(uint8_t c) waypoints[c].x = stateGetPositionEnu_f()->x + DEFAULT_CIRCLE_RADIUS * cos(wind_dir + M_PI); waypoints[c].y = stateGetPositionEnu_f()->y + DEFAULT_CIRCLE_RADIUS * sin(wind_dir + M_PI); last_plume_was_here(); - return FALSE; + return false; } -bool_t nav_anemotaxis(uint8_t c, uint8_t c1, uint8_t c2, uint8_t plume) +bool nav_anemotaxis(uint8_t c, uint8_t c1, uint8_t c2, uint8_t plume) { if (chemo_sensor) { last_plume_was_here(); @@ -104,5 +104,5 @@ bool_t nav_anemotaxis(uint8_t c, uint8_t c1, uint8_t c2, uint8_t plume) break; } chemo_sensor = 0; - return TRUE; + return true; } diff --git a/sw/airborne/modules/enose/anemotaxis.h b/sw/airborne/modules/enose/anemotaxis.h index 16e571b252..19b55962ad 100644 --- a/sw/airborne/modules/enose/anemotaxis.h +++ b/sw/airborne/modules/enose/anemotaxis.h @@ -3,8 +3,8 @@ #include "std.h" -extern bool_t nav_anemotaxis_downwind(uint8_t c, float radius); -extern bool_t nav_anemotaxis_init(uint8_t c); -extern bool_t nav_anemotaxis(uint8_t c, uint8_t c1, uint8_t c2, uint8_t plume); +extern bool nav_anemotaxis_downwind(uint8_t c, float radius); +extern bool nav_anemotaxis_init(uint8_t c); +extern bool nav_anemotaxis(uint8_t c, uint8_t c1, uint8_t c2, uint8_t plume); #endif /** ANEMOTAXIS_H */ diff --git a/sw/airborne/modules/enose/chemotaxis.c b/sw/airborne/modules/enose/chemotaxis.c index 7733a4b94b..88f83c09dd 100644 --- a/sw/airborne/modules/enose/chemotaxis.c +++ b/sw/airborne/modules/enose/chemotaxis.c @@ -15,17 +15,17 @@ static uint8_t last_plume_value; static float radius; static int8_t sign; -bool_t nav_chemotaxis_init(uint8_t c, uint8_t plume) +bool nav_chemotaxis_init(uint8_t c, uint8_t plume) { radius = MAX_RADIUS; last_plume_value = 0; sign = 1; waypoints[plume].x = waypoints[c].x; waypoints[plume].y = waypoints[c].y; - return FALSE; + return false; } -bool_t nav_chemotaxis(uint8_t c, uint8_t plume) +bool nav_chemotaxis(uint8_t c, uint8_t plume) { if (chemo_sensor > last_plume_value) { @@ -53,5 +53,5 @@ bool_t nav_chemotaxis(uint8_t c, uint8_t plume) } NavCircleWaypoint(c, radius); - return TRUE; + return true; } diff --git a/sw/airborne/modules/enose/chemotaxis.h b/sw/airborne/modules/enose/chemotaxis.h index ad0c26e587..629017098f 100644 --- a/sw/airborne/modules/enose/chemotaxis.h +++ b/sw/airborne/modules/enose/chemotaxis.h @@ -3,7 +3,7 @@ #include "std.h" -extern bool_t nav_chemotaxis_init(uint8_t c, uint8_t plume); -extern bool_t nav_chemotaxis(uint8_t c, uint8_t plume); +extern bool nav_chemotaxis_init(uint8_t c, uint8_t plume); +extern bool nav_chemotaxis(uint8_t c, uint8_t plume); #endif /** CHEMOTAXIS_H */ diff --git a/sw/airborne/modules/enose/enose.c b/sw/airborne/modules/enose/enose.c index 47bb5d1bc8..bb7fa9d614 100644 --- a/sw/airborne/modules/enose/enose.c +++ b/sw/airborne/modules/enose/enose.c @@ -18,7 +18,7 @@ uint16_t enose_PID_val; #define ENOSE_HEAT_INIT 237 static uint8_t enose_conf_requested; -static volatile bool_t enose_i2c_done; +static volatile bool enose_i2c_done; static struct adc_buf buf_PID; @@ -30,8 +30,8 @@ void enose_init(void) enose_val[i] = 0; } enose_status = ENOSE_IDLE; - enose_conf_requested = TRUE; - enose_i2c_done = TRUE; + enose_conf_requested = true; + enose_i2c_done = true; #ifdef ADC_CHANNEL_PID adc_buf_channel(ADC_CHANNEL_PID, &buf_PID, ADC_CHANNEL_PID_NB_SAMPLES); @@ -42,7 +42,7 @@ void enose_init(void) void enose_set_heat(uint8_t no_sensor, uint8_t value) { enose_heat[no_sensor] = value; - enose_conf_requested = TRUE; + enose_conf_requested = true; } @@ -59,18 +59,18 @@ void enose_periodic(void) const uint8_t msg[] = { ENOSE_PWM_ADDR, enose_heat[0], enose_heat[1], enose_heat[2] }; memcpy((void *)i2c0_buf, msg, sizeof(msg)); i2c0_transmit(ENOSE_SLAVE_ADDR, sizeof(msg), &enose_i2c_done); - enose_i2c_done = FALSE; - enose_conf_requested = FALSE; + enose_i2c_done = false; + enose_conf_requested = false; } else if (enose_status == ENOSE_IDLE) { enose_status = ENOSE_MEASURING_WR; const uint8_t msg[] = { ENOSE_DATA_ADDR }; memcpy((void *)i2c0_buf, msg, sizeof(msg)); i2c0_transmit(ENOSE_SLAVE_ADDR, sizeof(msg), &enose_i2c_done); - enose_i2c_done = FALSE; + enose_i2c_done = false; } else if (enose_status == ENOSE_MEASURING_WR) { enose_status = ENOSE_MEASURING_RD; i2c0_receive(ENOSE_SLAVE_ADDR, 6, &enose_i2c_done); - enose_i2c_done = FALSE; + enose_i2c_done = false; } else if (enose_status == ENOSE_MEASURING_RD) { uint16_t val = (i2c0_buf[0] << 8) | i2c0_buf[1]; if (val < 5000) { diff --git a/sw/airborne/modules/geo_mag/geo_mag.c b/sw/airborne/modules/geo_mag/geo_mag.c index 17e13cf35a..19edf93df7 100644 --- a/sw/airborne/modules/geo_mag/geo_mag.c +++ b/sw/airborne/modules/geo_mag/geo_mag.c @@ -44,15 +44,15 @@ struct GeoMag geo_mag; void geo_mag_init(void) { - geo_mag.calc_once = FALSE; - geo_mag.ready = FALSE; + geo_mag.calc_once = false; + geo_mag.ready = false; } void geo_mag_periodic(void) { //FIXME: kill_throttle has no place in a geomag module if (!geo_mag.ready && GpsFixValid() && kill_throttle) { - geo_mag.calc_once = TRUE; + geo_mag.calc_once = true; } } @@ -86,7 +86,7 @@ void geo_mag_event(void) float_vect3_normalize(&h); AbiSendMsgGEO_MAG(GEO_MAG_SENDER_ID, &h); - geo_mag.ready = TRUE; + geo_mag.ready = true; } - geo_mag.calc_once = FALSE; + geo_mag.calc_once = false; } diff --git a/sw/airborne/modules/geo_mag/geo_mag.h b/sw/airborne/modules/geo_mag/geo_mag.h index bc3ca49145..cedee8dbe8 100644 --- a/sw/airborne/modules/geo_mag/geo_mag.h +++ b/sw/airborne/modules/geo_mag/geo_mag.h @@ -34,8 +34,8 @@ struct GeoMag { struct DoubleVect3 vect; - bool_t calc_once; - bool_t ready; + bool calc_once; + bool ready; }; extern void geo_mag_init(void); diff --git a/sw/airborne/modules/gps/gps_i2c.c b/sw/airborne/modules/gps/gps_i2c.c deleted file mode 100644 index 07241cce31..0000000000 --- a/sw/airborne/modules/gps/gps_i2c.c +++ /dev/null @@ -1,150 +0,0 @@ -/* - * Copyright (C) 2009 ENAC, Pascal Brisset, Michel Gorraz,Gautier Hattenberger - * - * This file is part of paparazzi. - * - * paparazzi is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2, or (at your option) - * any later version. - * - * paparazzi is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with paparazzi; see the file COPYING. If not, write to - * the Free Software Foundation, 59 Temple Place - Suite 330, - * Boston, MA 02111-1307, USA. - * - */ - -#include "modules/gps/gps_i2c.h" -#include "mcu_periph/i2c.h" -#include "subsystems/gps.h" - -struct i2c_transaction i2c_gps_trans; - - -uint8_t gps_i2c_rx_buf[GPS_I2C_BUF_SIZE]; -uint8_t gps_i2c_rx_insert_idx, gps_i2c_rx_extract_idx; -uint8_t gps_i2c_tx_buf[GPS_I2C_BUF_SIZE]; -uint8_t gps_i2c_tx_insert_idx, gps_i2c_tx_extract_idx; -bool_t gps_i2c_done, gps_i2c_data_ready_to_transmit; - -/* u-blox5 protocole, page 4 */ -#define GPS_I2C_ADDR_NB_AVAIL_BYTES 0xFD -#define GPS_I2C_ADDR_DATA 0xFF - -#define GPS_I2C_STATUS_IDLE 0 -#define GPS_I2C_STATUS_ASKING_DATA 1 -#define GPS_I2C_STATUS_ASKING_NB_AVAIL_BYTES 2 -#define GPS_I2C_STATUS_READING_NB_AVAIL_BYTES 3 -#define GPS_I2C_STATUS_READING_DATA 4 - -#define gps_i2c_AddCharToRxBuf(_x) { \ - gps_i2c_rx_buf[gps_i2c_rx_insert_idx] = _x; \ - gps_i2c_rx_insert_idx++; /* size=256, No check for buf overflow */ \ - } - -static uint8_t gps_i2c_status; -//static uint16_t gps_i2c_nb_avail_bytes; /* size buffer =~ 12k */ -//static uint8_t data_buf_len; - -void gps_i2c_init(void) -{ - gps_i2c_status = GPS_I2C_STATUS_IDLE; - gps_i2c_done = TRUE; - gps_i2c_data_ready_to_transmit = FALSE; - gps_i2c_rx_insert_idx = 0; - gps_i2c_rx_extract_idx = 0; - gps_i2c_tx_insert_idx = 0; -#ifdef GPS_CONFIGURE - /* The call in main_ap.c is made before the modules init (too early) */ - gps_configure_uart(); -#endif -} - -void gps_i2c_periodic(void) -{ - /* - if (gps_i2c_done && gps_i2c_status == GPS_I2C_STATUS_IDLE) { - i2c0_buf[0] = GPS_I2C_ADDR_NB_AVAIL_BYTES; - i2c0_transmit_no_stop(GPS_I2C_SLAVE_ADDR, 1, &gps_i2c_done); - gps_i2c_done = FALSE; - gps_i2c_status = GPS_I2C_STATUS_ASKING_NB_AVAIL_BYTES; - } - */ - -} - -void gps_i2c_event(void) -{ - /* - * switch (gps_i2c_status) { - case GPS_I2C_STATUS_IDLE: - if (gps_i2c_data_ready_to_transmit) { - // Copy data from our buffer to the i2c buffer - uint8_t data_size = Min(gps_i2c_tx_insert_idx-gps_i2c_tx_extract_idx, I2C0_BUF_LEN); - uint8_t i; - for(i = 0; i < data_size; i++, gps_i2c_tx_extract_idx++) - i2c0_buf[i] = gps_i2c_tx_buf[gps_i2c_tx_extract_idx]; - - // Start i2c transmit - i2c0_transmit(GPS_I2C_SLAVE_ADDR, data_size, &gps_i2c_done); - gps_i2c_done = FALSE; - - // Reset flag if finished - if (gps_i2c_tx_extract_idx >= gps_i2c_tx_insert_idx) { - gps_i2c_data_ready_to_transmit = FALSE; - gps_i2c_tx_insert_idx = 0; - } - } - break; - - case GPS_I2C_STATUS_ASKING_NB_AVAIL_BYTES: - i2c0_receive(GPS_I2C_SLAVE_ADDR, 2, &gps_i2c_done); - gps_i2c_done = FALSE; - gps_i2c_status = GPS_I2C_STATUS_READING_NB_AVAIL_BYTES; - break; - - case GPS_I2C_STATUS_READING_NB_AVAIL_BYTES: - gps_i2c_nb_avail_bytes = (i2c0_buf[0]<<8) | i2c0_buf[1]; - - if (gps_i2c_nb_avail_bytes) - goto continue_reading; - else - gps_i2c_status = GPS_I2C_STATUS_IDLE; - break; - - continue_reading: - - case GPS_I2C_STATUS_ASKING_DATA: - data_buf_len = Min(gps_i2c_nb_avail_bytes, I2C0_BUF_LEN); - gps_i2c_nb_avail_bytes -= data_buf_len; - - i2c0_receive(GPS_I2C_SLAVE_ADDR, data_buf_len, &gps_i2c_done); - gps_i2c_done = FALSE; - gps_i2c_status = GPS_I2C_STATUS_READING_DATA; - break; - - case GPS_I2C_STATUS_READING_DATA: { - uint8_t i; - for(i = 0; i < data_buf_len; i++) { - gps_i2c_AddCharToRxBuf(i2c0_buf[i]); - } - - if (gps_i2c_nb_avail_bytes) - goto continue_reading; - else - gps_i2c_status = GPS_I2C_STATUS_IDLE; - break; - } - - default: - return; - } - */ - -} diff --git a/sw/airborne/modules/gps/gps_i2c.h b/sw/airborne/modules/gps/gps_i2c.h deleted file mode 100644 index f89fe03d9f..0000000000 --- a/sw/airborne/modules/gps/gps_i2c.h +++ /dev/null @@ -1,57 +0,0 @@ -/* - * Copyright (C) 2009 ENAC, Pascal Brisset, Michel Gorraz,Gautier Hattenberger - * - * This file is part of paparazzi. - * - * paparazzi is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2, or (at your option) - * any later version. - * - * paparazzi is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with paparazzi; see the file COPYING. If not, write to - * the Free Software Foundation, 59 Temple Place - Suite 330, - * Boston, MA 02111-1307, USA. - * - */ - -#ifndef GPS_I2C -#define GPS_I2C - -#include "std.h" - -/// Default address for u-blox (and others?) -#define GPS_I2C_SLAVE_ADDR (0x42 << 1) - -#define GPS_I2C_BUF_SIZE 256 -extern uint8_t gps_i2c_rx_buf[GPS_I2C_BUF_SIZE]; -extern uint8_t gps_i2c_rx_insert_idx, gps_i2c_rx_extract_idx; -extern uint8_t gps_i2c_tx_buf[GPS_I2C_BUF_SIZE]; -extern uint8_t gps_i2c_tx_insert_idx, gps_i2c_tx_extract_idx; - -extern bool_t gps_i2c_done, gps_i2c_data_ready_to_transmit; - -void gps_i2c_init(void); -void gps_i2c_event(void); -void gps_i2c_periodic(void); - -#define gps_i2cEvent() { if (gps_i2c_done) gps_i2c_event(); } -#define gps_i2cChAvailable() (gps_i2c_rx_insert_idx != gps_i2c_rx_extract_idx) -#define gps_i2cGetch() (gps_i2c_rx_buf[gps_i2c_rx_extract_idx++]) -#define gps_i2cTransmit(_char) { \ - if (! gps_i2c_data_ready_to_transmit) /* Else transmitting, overrun*/ \ - gps_i2c_tx_buf[gps_i2c_tx_insert_idx++] = _char; \ - } -#define gps_i2cSendMessage() { \ - gps_i2c_data_ready_to_transmit = TRUE; \ - gps_i2c_tx_extract_idx = 0; \ - } -// #define gps_i2cTxRunning (gps_i2c_data_ready_to_transmit) -// #define gps_i2cInitParam(_baud, _uart_prm1, _uart_prm2) {} - -#endif // GPS_I2C diff --git a/sw/airborne/modules/gps/gps_ubx_i2c.c b/sw/airborne/modules/gps/gps_ubx_i2c.c new file mode 100644 index 0000000000..8ec8c6fd6d --- /dev/null +++ b/sw/airborne/modules/gps/gps_ubx_i2c.c @@ -0,0 +1,223 @@ +/* + * Copyright (C) 2009 ENAC, Pascal Brisset, Michel Gorraz,Gautier Hattenberger, + * 2016 Michael Sierra + * + * This file is part of paparazzi. + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, write to + * the Free Software Foundation, 59 Temple Place - Suite 330, + * Boston, MA 02111-1307, USA. + * + */ + +/** + * @file modules/gps/gps_ubx_i2c.c + * pprz link device for Ublox over I2C + * + * This module adds i2c functionality for the ublox using existing + * driver + */ + +#include "mcu_periph/i2c.h" +#include "modules/gps/gps_ubx_i2c.h" +#include "subsystems/datalink/downlink.h" +#include + +// ublox i2c address +#define GPS_I2C_SLAVE_ADDR (0x42 << 1) + +#ifndef GPS_UBX_I2C_DEV +#define GPS_UBX_I2C_DEV i2c2 +#endif +PRINT_CONFIG_VAR(GPS_UBX_I2C_DEV) + +#define GPS_I2C_ADDR_NB_AVAIL_BYTES 0xFD ///< number of bytes available register +#define GPS_I2C_ADDR_DATA 0xFF ///< data stream register + +// Global variables +struct GpsUbxI2C gps_i2c; + +// Local variables +bool gps_ubx_i2c_ucenter_done; ///< ucenter finished configuring flag +uint16_t gps_ubx_i2c_bytes_to_read; ///< ublox bytes to read + +/** null function + * @param p unused + */ +void null_function(struct GpsUbxI2C *p); +/** Put byte into transmit buffer. + * @param p unused + * @param data byte to put in buffer + */ +void gps_i2c_put_byte(struct GpsUbxI2C *p, uint8_t data); + +/** send buffer when ready + * @param p unused + */ +void gps_i2c_msg_ready(struct GpsUbxI2C *p); +/** check if a new character is available + * @param p unused + */ +uint8_t gps_i2c_char_available(struct GpsUbxI2C *p); +/** get a new char + * @param p unused + */ +uint8_t gps_i2c_getch(struct GpsUbxI2C *p); + +void gps_ubx_i2c_init(void) +{ + gps_ubx_i2c_ucenter_done = FALSE; + gps_i2c.read_state = gps_i2c_read_standby; + gps_i2c.write_state = gps_i2c_write_standby; + + gps_i2c.trans.status = I2CTransDone; + gps_i2c.rx_buf_avail = 0; + gps_i2c.rx_buf_idx = 0; + gps_i2c.tx_buf_idx = 0; + gps_i2c.tx_rdy = TRUE; + + gps_i2c.device.periph = (void *)&gps_i2c; + gps_i2c.device.check_free_space = (check_free_space_t)null_function; ///< check if transmit buffer is not full + gps_i2c.device.put_byte = (put_byte_t)gps_i2c_put_byte; ///< put one byte + gps_i2c.device.send_message = (send_message_t)gps_i2c_msg_ready; ///< send completed buffer + gps_i2c.device.char_available = (char_available_t)gps_i2c_char_available; ///< check if a new character is available + gps_i2c.device.get_byte = (get_byte_t)gps_i2c_getch; ///< get a new char + gps_i2c.device.set_baudrate = (set_baudrate_t)null_function; ///< set device baudrate +} + +void null_function(struct GpsUbxI2C *p __attribute__((unused))) {} + +void gps_i2c_put_byte(struct GpsUbxI2C *p __attribute__((unused)), uint8_t data) +{ + gps_i2c.tx_buf[gps_i2c.tx_buf_idx++] = data; +} + +void gps_i2c_msg_ready(struct GpsUbxI2C *p __attribute__((unused))) +{ + gps_i2c.write_state = gps_i2c_write_cfg; + gps_i2c.tx_rdy = FALSE; +} + +uint8_t gps_i2c_char_available(struct GpsUbxI2C *p __attribute__((unused))) +{ + return (((int)gps_i2c.rx_buf_avail - (int)gps_i2c.rx_buf_idx) > 0); +} + +bool gps_i2c_tx_is_ready(void) +{ + return gps_i2c.tx_rdy; +} + +void gps_i2c_begin(void) +{ + gps_ubx_i2c_ucenter_done = TRUE; +} + +uint8_t gps_i2c_getch(struct GpsUbxI2C *p __attribute__((unused))) +{ + return gps_i2c.rx_buf[gps_i2c.rx_buf_idx++]; +} + +void gps_ubx_i2c_periodic(void) +{ + if (gps_i2c.trans.status == I2CTransDone) + { + switch(gps_i2c.write_state) + { + case gps_i2c_write_standby: + if (!gps_i2c_char_available(&gps_i2c)) + { + if (gps_ubx_i2c_bytes_to_read > GPS_I2C_BUF_SIZE || gps_ubx_i2c_ucenter_done) + { + gps_i2c.write_state = gps_i2c_write_request_size; + } else { + gps_i2c.tx_rdy = TRUE; + } + } + break; + + case gps_i2c_write_request_size: + gps_i2c.trans.buf[0] = GPS_I2C_ADDR_NB_AVAIL_BYTES; + i2c_transceive(&GPS_UBX_I2C_DEV, &gps_i2c.trans, GPS_I2C_SLAVE_ADDR, 1, 2); + gps_i2c.write_state = gps_i2c_write_standby; + gps_i2c.read_state = gps_i2c_read_sizeof; + break; + + case gps_i2c_write_cfg: + memcpy(&gps_i2c.trans.buf, gps_i2c.tx_buf, gps_i2c.tx_buf_idx); + i2c_transmit(&GPS_UBX_I2C_DEV, &gps_i2c.trans, GPS_I2C_SLAVE_ADDR, gps_i2c.tx_buf_idx); + gps_i2c.tx_buf_idx = 0; + gps_i2c.read_state = gps_i2c_read_standby; + gps_i2c.write_state = gps_i2c_write_request_size; + break; + + default: + break; + } + } +} + +void gps_ubx_i2c_read_event(void) +{ + switch(gps_i2c.read_state) + { + case gps_i2c_read_standby: + break; + break; + + // how many bytes are available + case gps_i2c_read_sizeof: + gps_ubx_i2c_bytes_to_read = ((uint16_t)(gps_i2c.trans.buf[0]) << 7) | (uint16_t)(gps_i2c.trans.buf[1]); + gps_i2c.trans.status = I2CTransDone; + if (gps_ubx_i2c_bytes_to_read == 0xFFFF || gps_ubx_i2c_bytes_to_read == 0x0000) + { + gps_i2c.write_state = gps_i2c_write_request_size; + return; + } else if (gps_ubx_i2c_bytes_to_read > GPS_I2C_BUF_SIZE) + { + gps_i2c.trans.buf[0] = GPS_I2C_ADDR_DATA; + i2c_transceive(&GPS_UBX_I2C_DEV, &gps_i2c.trans, GPS_I2C_SLAVE_ADDR, 1, GPS_I2C_BUF_SIZE); + gps_i2c.read_state = gps_i2c_read_data; + } else + { + gps_i2c.trans.buf[0] = GPS_I2C_ADDR_DATA; + i2c_transceive(&GPS_UBX_I2C_DEV, &gps_i2c.trans, GPS_I2C_SLAVE_ADDR, 1, gps_ubx_i2c_bytes_to_read); + gps_i2c.read_state = gps_i2c_read_data; + return; + } + break; + case gps_i2c_read_data: + if (gps_ubx_i2c_bytes_to_read > GPS_I2C_BUF_SIZE) + { + memcpy(&gps_i2c.rx_buf, &gps_i2c.trans.buf, GPS_I2C_BUF_SIZE); + gps_i2c.rx_buf_idx = 0; + gps_i2c.rx_buf_avail = GPS_I2C_BUF_SIZE; + } else + { + memcpy(&gps_i2c.rx_buf, &gps_i2c.trans.buf, gps_ubx_i2c_bytes_to_read); + gps_i2c.rx_buf_idx = 0; + gps_i2c.rx_buf_avail = gps_ubx_i2c_bytes_to_read; + } + + gps_i2c.write_state = gps_i2c_write_standby; + gps_i2c.read_state = gps_i2c_read_standby; + break; + + default: + break; + } + + // Transaction has been read + gps_i2c.trans.status = I2CTransDone; +} diff --git a/sw/airborne/modules/gps/gps_ubx_i2c.h b/sw/airborne/modules/gps/gps_ubx_i2c.h new file mode 100644 index 0000000000..c5c0884fb2 --- /dev/null +++ b/sw/airborne/modules/gps/gps_ubx_i2c.h @@ -0,0 +1,111 @@ +/* + * Copyright (C) 2009 ENAC, Pascal Brisset, Michel Gorraz,Gautier Hattenberger, + * 2016 Michael Sierra + * + * This file is part of paparazzi. + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, write to + * the Free Software Foundation, 59 Temple Place - Suite 330, + * Boston, MA 02111-1307, USA. + * + */ + +/** + * @file modules/gps/gps_ubx_i2c.h + * pprz link device for Ublox over I2C + * + * This module adds i2c functionality for the ublox using existing + * driver + */ + +#ifndef GPS_UBX_I2C_H +#define GPS_UBX_I2C_H + +#include "std.h" +#include "mcu_periph/i2c.h" +#include "pprzlink/pprzlink_device.h" + +#define GPS_I2C_BUF_SIZE 255 + +/** read states + */ +typedef enum GpsI2CReadState +{ + gps_i2c_read_standby, ///< dont read anything + gps_i2c_read_sizeof, ///< read size of ubx buffer + gps_i2c_read_data ///< read data from ubx buffer +} GpsI2CReadState; + +/** write states + */ +typedef enum GpsI2CWriteState +{ + gps_i2c_write_standby, ///< wait for gps_ubx to read buffer or ucenter to transmit + gps_i2c_write_request_size, ///< request size of ubx buffer + gps_i2c_write_cfg ///< send a config msg and get reply +} GpsI2CWriteState; + +/** ubx_i2c state + */ +struct GpsUbxI2C +{ + GpsI2CReadState read_state; + GpsI2CWriteState write_state; + + uint8_t rx_buf[GPS_I2C_BUF_SIZE]; ///< receive buffer + uint8_t tx_buf[GPS_I2C_BUF_SIZE]; ///< transmit buffer + + uint16_t rx_buf_avail; ///< how many bytes are waiting to be read + uint16_t rx_buf_idx; ///< rx buf index + uint16_t tx_buf_idx; ///< tx buf index + + bool tx_rdy; ///< are we ready to transmit + + struct i2c_transaction trans; ///< i2c transaction + + int baudrate; ///< baudrate, unused + + struct link_device device; ///< ppz link device +}; + +extern struct GpsUbxI2C gps_i2c; +/** init function + */ +extern void gps_ubx_i2c_init(void); +/** handle message sending + */ +extern void gps_ubx_i2c_periodic(void); +/** handle message reception + */ +extern void gps_ubx_i2c_read_event(void); +/** is driver ready to send a message + */ +extern bool gps_i2c_tx_is_ready(void); +/** config is done, begin reading messages + */ +extern void gps_i2c_begin(void); + +/** i2c event + */ +static inline void GpsUbxi2cEvent(void) +{ + if (gps_i2c.trans.status == I2CTransSuccess) { + gps_ubx_i2c_read_event(); + } else if (gps_i2c.trans.status == I2CTransFailed) { + // if transaction failed, mark as done so can be retried + gps_i2c.trans.status = I2CTransDone; + } +} + +#endif // GPS_UBX_I2C_H \ No newline at end of file diff --git a/sw/airborne/modules/gps/gps_ubx_ucenter.c b/sw/airborne/modules/gps/gps_ubx_ucenter.c index 0b4b623666..e43a46f906 100644 --- a/sw/airborne/modules/gps/gps_ubx_ucenter.c +++ b/sw/airborne/modules/gps/gps_ubx_ucenter.c @@ -43,13 +43,15 @@ ////////////////////////////////////////////////////////////////////////////////////// // // UCENTER: init, periodic and event - -static bool_t gps_ubx_ucenter_autobaud(uint8_t nr); -static bool_t gps_ubx_ucenter_configure(uint8_t nr); +#ifndef GPS_I2C +static bool gps_ubx_ucenter_autobaud(uint8_t nr); +#endif +static bool gps_ubx_ucenter_configure(uint8_t nr); #define GPS_UBX_UCENTER_STATUS_STOPPED 0 #define GPS_UBX_UCENTER_STATUS_AUTOBAUD 1 #define GPS_UBX_UCENTER_STATUS_CONFIG 2 +#define GPS_UBX_UCENTER_STATUS_WAITING 3 #define GPS_UBX_UCENTER_REPLY_NONE 0 #define GPS_UBX_UCENTER_REPLY_ACK 1 @@ -101,8 +103,13 @@ void gps_ubx_ucenter_periodic(void) // Save processing time inflight case GPS_UBX_UCENTER_STATUS_STOPPED: return; + break; // Automatically Determine Current Baudrate case GPS_UBX_UCENTER_STATUS_AUTOBAUD: +#ifdef GPS_I2C + gps_ubx_ucenter.cnt = 0; + gps_ubx_ucenter.status = GPS_UBX_UCENTER_STATUS_CONFIG; +#else if (gps_ubx_ucenter_autobaud(gps_ubx_ucenter.cnt) == FALSE) { gps_ubx_ucenter.status = GPS_UBX_UCENTER_STATUS_CONFIG; gps_ubx_ucenter.cnt = 0; @@ -116,16 +123,29 @@ void gps_ubx_ucenter_periodic(void) } else { gps_ubx_ucenter.cnt++; } +#endif /* GPS_I2C */ break; // Send Configuration case GPS_UBX_UCENTER_STATUS_CONFIG: if (gps_ubx_ucenter_configure(gps_ubx_ucenter.cnt) == FALSE) { gps_ubx_ucenter.status = GPS_UBX_UCENTER_STATUS_STOPPED; +#ifdef GPS_I2C + gps_i2c_begin(); +#endif gps_ubx_ucenter.cnt = 0; } else { gps_ubx_ucenter.cnt++; +#ifdef GPS_I2C + gps_ubx_ucenter.status = GPS_UBX_UCENTER_STATUS_WAITING; } break; + case GPS_UBX_UCENTER_STATUS_WAITING: + if (gps_i2c_tx_is_ready()) + { + gps_ubx_ucenter.status = GPS_UBX_UCENTER_STATUS_CONFIG; +#endif /*GPS_I2C*/ + } + break; default: // stop this module now... // todo @@ -147,10 +167,10 @@ void gps_ubx_ucenter_event(void) // Read Configuration Reply's switch (gps_ubx.msg_class) { case UBX_ACK_ID: - if (gps_ubx.msg_id == UBX_ACK_ACK_ID) { + if (gps_ubx.msg_id & UBX_ACK_ACK_ID) { gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_ACK; DEBUG_PRINT("ACK\n"); - } else { + } else if (gps_ubx.msg_id & UBX_ACK_NAK_ID) { gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NACK; DEBUG_PRINT("NACK\n"); } @@ -226,7 +246,8 @@ static inline void gps_ubx_ucenter_enable_msg(uint8_t class, uint8_t id, uint8_t * @param nr Autobaud step number to perform * @return FALSE when completed */ -static bool_t gps_ubx_ucenter_autobaud(uint8_t nr) +#ifndef GPS_I2C +static bool gps_ubx_ucenter_autobaud(uint8_t nr) { switch (nr) { case 0: @@ -242,7 +263,7 @@ static bool_t gps_ubx_ucenter_autobaud(uint8_t nr) case 3: if (gps_ubx_ucenter.reply == GPS_UBX_UCENTER_REPLY_ACK) { gps_ubx_ucenter.baud_init = gps_ubx_ucenter.baud_run; - return FALSE; + return false; } gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE; uart_periph_set_baudrate(&(UBX_GPS_LINK), B9600); // Maybe the factory default? @@ -251,7 +272,7 @@ static bool_t gps_ubx_ucenter_autobaud(uint8_t nr) case 4: if (gps_ubx_ucenter.reply == GPS_UBX_UCENTER_REPLY_ACK) { gps_ubx_ucenter.baud_init = gps_ubx_ucenter.baud_run; - return FALSE; + return false; } gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE; uart_periph_set_baudrate(&(UBX_GPS_LINK), B57600); // The high-rate default? @@ -260,7 +281,7 @@ static bool_t gps_ubx_ucenter_autobaud(uint8_t nr) case 5: if (gps_ubx_ucenter.reply == GPS_UBX_UCENTER_REPLY_ACK) { gps_ubx_ucenter.baud_init = gps_ubx_ucenter.baud_run; - return FALSE; + return false; } gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE; uart_periph_set_baudrate(&(UBX_GPS_LINK), B4800); // Default NMEA baudrate? @@ -269,7 +290,7 @@ static bool_t gps_ubx_ucenter_autobaud(uint8_t nr) case 6: if (gps_ubx_ucenter.reply == GPS_UBX_UCENTER_REPLY_ACK) { gps_ubx_ucenter.baud_init = gps_ubx_ucenter.baud_run; - return FALSE; + return false; } gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE; uart_periph_set_baudrate(&(UBX_GPS_LINK), B115200); // Last possible option for ublox @@ -278,7 +299,7 @@ static bool_t gps_ubx_ucenter_autobaud(uint8_t nr) case 7: if (gps_ubx_ucenter.reply == GPS_UBX_UCENTER_REPLY_ACK) { gps_ubx_ucenter.baud_init = gps_ubx_ucenter.baud_run; - return FALSE; + return false; } gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE; uart_periph_set_baudrate(&(UBX_GPS_LINK), B230400); // Last possible option for ublox @@ -287,20 +308,20 @@ static bool_t gps_ubx_ucenter_autobaud(uint8_t nr) case 8: if (gps_ubx_ucenter.reply == GPS_UBX_UCENTER_REPLY_ACK) { gps_ubx_ucenter.baud_init = gps_ubx_ucenter.baud_run; - return FALSE; + return false; } // Autoconfig Failed... let's setup the failsafe baudrate // Should we try even a different baudrate? gps_ubx_ucenter.baud_init = 0; // Set as zero to indicate that we couldn't verify the baudrate uart_periph_set_baudrate(&(UBX_GPS_LINK), B9600); - return FALSE; + return false; default: break; } - return TRUE; + return true; } - +#endif /* GPS_I2C */ ///////////////////////////////////// // UBlox internal Navigation Solution @@ -393,7 +414,7 @@ static inline void gps_ubx_ucenter_config_port(void) // I2C Interface case GPS_PORT_DDC: #ifdef GPS_I2C - UbxSend_CFG_PRT(gps_ubx_ucenter.dev, gps_ubx_ucenter.port_id, 0x0, 0x0, GPS_I2C_SLAVE_ADDR, 0x0, UBX_PROTO_MASK | NMEA_PROTO_MASK, UBX_PROTO_MASK| NMEA_PROTO_MASK, 0x0, 0x0); + UbxSend_CFG_PRT(gps_ubx_ucenter.dev, gps_ubx_ucenter.port_id, 0x0, 0x0, (0x42<<1), 0x0, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0); #else DEBUG_PRINT("WARNING: Please include the gps_i2c module.\n"); #endif @@ -442,7 +463,7 @@ static inline void gps_ubx_ucenter_config_sbas(void) // Text Telemetry for Debugging #undef GOT_PAYLOAD -static bool_t gps_ubx_ucenter_configure(uint8_t nr) +static bool gps_ubx_ucenter_configure(uint8_t nr) { DEBUG_PRINT("gps_ubx_ucenter_configure nr: %u\n", nr); @@ -457,6 +478,7 @@ static bool_t gps_ubx_ucenter_configure(uint8_t nr) gps_ubx_ucenter_config_port(); break; case 1: +#ifndef GPS_I2C #if PRINT_DEBUG_GPS_UBX_UCENTER if (gps_ubx_ucenter.reply != GPS_UBX_UCENTER_REPLY_ACK) { DEBUG_PRINT("ublox did not acknowledge port configuration.\n"); @@ -467,6 +489,7 @@ static bool_t gps_ubx_ucenter_configure(uint8_t nr) // Now the GPS baudrate should have changed uart_periph_set_baudrate(&(UBX_GPS_LINK), gps_ubx_ucenter.baud_target); gps_ubx_ucenter.baud_run = UART_SPEED(gps_ubx_ucenter.baud_target); +#endif /*GPS_I2C*/ UbxSend_MON_GET_VER(gps_ubx_ucenter.dev); break; case 2: @@ -551,11 +574,11 @@ static bool_t gps_ubx_ucenter_configure(uint8_t nr) DEBUG_PRINT("%u\n", gps_ubx_ucenter.replies[i]); } #endif - return FALSE; + return false; default: break; } gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE; - return TRUE; // Continue, except for the last case + return true; // Continue, except for the last case } diff --git a/sw/airborne/modules/gsm/gsm.c b/sw/airborne/modules/gsm/gsm.c index c89dd3a55b..fa9285a88a 100644 --- a/sw/airborne/modules/gsm/gsm.c +++ b/sw/airborne/modules/gsm/gsm.c @@ -150,7 +150,7 @@ void gsm_init(void) // // Send_AT(); // gsm_status = STATUS_SEND_AT; - // gsm_gsm_init_status = FALSE; + // gsm_gsm_init_status = false; } gcs_index = 0; gcs_index_max = 0; @@ -170,7 +170,7 @@ void gsm_init_report(void) /* Second call */ Send_AT(); gsm_status = STATUS_SEND_AT; - gsm_gsm_init_report_status = FALSE; + gsm_gsm_init_report_status = false; } } diff --git a/sw/airborne/modules/guidance_opticflow/guidance_opticflow_hover.c b/sw/airborne/modules/guidance_opticflow/guidance_opticflow_hover.c index 62e3dbef04..e6daa87ba8 100644 --- a/sw/airborne/modules/guidance_opticflow/guidance_opticflow_hover.c +++ b/sw/airborne/modules/guidance_opticflow/guidance_opticflow_hover.c @@ -136,7 +136,7 @@ void guidance_h_module_read_rc(void) * Main guidance loop * @param[in] in_flight Whether we are in flight or not */ -void guidance_h_module_run(bool_t in_flight) +void guidance_h_module_run(bool in_flight) { /* Update the setpoint */ stabilization_attitude_set_rpy_setpoint_i(&opticflow_stab.cmd); diff --git a/sw/airborne/modules/guidance_opticflow/guidance_opticflow_hover.h b/sw/airborne/modules/guidance_opticflow/guidance_opticflow_hover.h index 93fbe665a2..08a1e954e1 100644 --- a/sw/airborne/modules/guidance_opticflow/guidance_opticflow_hover.h +++ b/sw/airborne/modules/guidance_opticflow/guidance_opticflow_hover.h @@ -52,6 +52,6 @@ extern struct opticflow_stab_t opticflow_stab; extern void guidance_h_module_init(void); extern void guidance_h_module_enter(void); extern void guidance_h_module_read_rc(void); -extern void guidance_h_module_run(bool_t in_flight); +extern void guidance_h_module_run(bool in_flight); #endif /* GUIDANCE_OPTICFLOW_HOVER_H_ */ diff --git a/sw/airborne/modules/gumstix_interface/qr_code_spi_link.c b/sw/airborne/modules/gumstix_interface/qr_code_spi_link.c index 47081b186e..2695810e30 100644 --- a/sw/airborne/modules/gumstix_interface/qr_code_spi_link.c +++ b/sw/airborne/modules/gumstix_interface/qr_code_spi_link.c @@ -32,7 +32,7 @@ //struct qr_code_spi_link_data qr_code_spi_link_data; struct spi_transaction qr_code_spi_link_transaction; -static volatile bool_t qr_code_spi_data_available = FALSE; +static volatile bool qr_code_spi_data_available = false; uint8_t testDataOut[3] = {1, 2, 3}; uint8_t testDataIn[3] = {9, 9, 9}; @@ -58,7 +58,7 @@ void qr_code_spi_link_init(void) void qr_code_spi_link_periodic(void) { if (qr_code_spi_data_available) { - qr_code_spi_data_available = FALSE; + qr_code_spi_data_available = false; uint16_t x, y; memcpy(&x, qr_code_spi_link_transaction.input_buf, 2); memcpy(&y, qr_code_spi_link_transaction.input_buf + 2, 2); @@ -69,7 +69,7 @@ void qr_code_spi_link_periodic(void) static void qr_code_spi_link_trans_cb(struct spi_transaction *trans __attribute__((unused))) { - qr_code_spi_data_available = TRUE; + qr_code_spi_data_available = true; } diff --git a/sw/airborne/modules/helicopter/throttle_curve.c b/sw/airborne/modules/helicopter/throttle_curve.c index b709d99e5f..6304a281a1 100644 --- a/sw/airborne/modules/helicopter/throttle_curve.c +++ b/sw/airborne/modules/helicopter/throttle_curve.c @@ -49,7 +49,7 @@ void throttle_curve_init(void) * Run the throttle curve and generate the output throttle and pitch * This depends on the FMODE(flight mode) and TRHUST command */ -void throttle_curve_run(bool_t motors_on, pprz_t in_cmd[]) +void throttle_curve_run(bool motors_on, pprz_t in_cmd[]) { // Calculate the mode value from the switch int8_t mode = ((float)(in_cmd[COMMAND_FMODE] + MAX_PPRZ) / THROTTLE_CURVE_SWITCH_VAL); diff --git a/sw/airborne/modules/helicopter/throttle_curve.h b/sw/airborne/modules/helicopter/throttle_curve.h index 8fb4fef2f2..9c7324f29b 100644 --- a/sw/airborne/modules/helicopter/throttle_curve.h +++ b/sw/airborne/modules/helicopter/throttle_curve.h @@ -51,6 +51,6 @@ extern struct throttle_curve_t throttle_curve; /* External functions */ extern void throttle_curve_init(void); -void throttle_curve_run(bool_t motors_on, pprz_t in_cmd[]); +void throttle_curve_run(bool motors_on, pprz_t in_cmd[]); #endif diff --git a/sw/airborne/modules/hott/hott.c b/sw/airborne/modules/hott/hott.c index b5b1467552..f41ea9e4f2 100644 --- a/sw/airborne/modules/hott/hott.c +++ b/sw/airborne/modules/hott/hott.c @@ -51,20 +51,20 @@ #define HOTT_TELEMETRY_VARIO_SENSOR_ID 0x89 static uint32_t hott_event_timer; // 1ms software timer -static bool_t hott_telemetry_is_sending = FALSE; +static bool hott_telemetry_is_sending = false; static uint16_t hott_telemetry_sendig_msgs_id = 0; #if HOTT_SIM_GPS_SENSOR -bool_t HOTT_REQ_UPDATE_GPS = FALSE; +bool HOTT_REQ_UPDATE_GPS = false; #endif #if HOTT_SIM_EAM_SENSOR -bool_t HOTT_REQ_UPDATE_EAM = FALSE; +bool HOTT_REQ_UPDATE_EAM = false; #endif #if HOTT_SIM_VARIO_SENSOR -bool_t HOTT_REQ_UPDATE_VARIO = FALSE; +bool HOTT_REQ_UPDATE_VARIO = false; #endif #if HOTT_SIM_GAM_SENSOR -bool_t HOTT_REQ_UPDATE_GAM = FALSE; +bool HOTT_REQ_UPDATE_GAM = false; #endif // HoTT serial send buffer pointer @@ -132,28 +132,28 @@ void hott_periodic(void) if ((hott_telemetry_sendig_msgs_id != HOTT_TELEMETRY_EAM_SENSOR_ID) && HOTT_REQ_UPDATE_EAM == TRUE) { hott_update_eam_msg(&hott_eam_msg); - HOTT_REQ_UPDATE_EAM = FALSE; + HOTT_REQ_UPDATE_EAM = false; } #endif #if HOTT_SIM_GAM_SENSOR if ((hott_telemetry_sendig_msgs_id != HOTT_TELEMETRY_GAM_SENSOR_ID) && HOTT_REQ_UPDATE_GAM == TRUE) { hott_update_gam_msg(&hott_gam_msg); - HOTT_REQ_UPDATE_GAM = FALSE; + HOTT_REQ_UPDATE_GAM = false; } #endif #if HOTT_SIM_GPS_SENSOR if ((hott_telemetry_sendig_msgs_id != HOTT_TELEMETRY_GPS_SENSOR_ID) && HOTT_REQ_UPDATE_GPS == TRUE) { hott_update_gps_msg(&hott_gam_msg); - HOTT_REQ_UPDATE_GPS = FALSE; + HOTT_REQ_UPDATE_GPS = false; } #endif #if HOTT_SIM_VARIO_SENSOR if ((hott_telemetry_sendig_msgs_id != HOTT_TELEMETRY_VARIO_SENSOR_ID) && HOTT_REQ_UPDATE_VARIO == TRUE) { hott_update_vario_msg(&hott_gam_msg); - HOTT_REQ_UPDATE_VARIO = FALSE; + HOTT_REQ_UPDATE_VARIO = false; } #endif } @@ -170,13 +170,13 @@ static void hott_send_telemetry_data(void) { static int16_t msg_crc = 0; if (!hott_telemetry_is_sending) { - hott_telemetry_is_sending = TRUE; + hott_telemetry_is_sending = true; hott_enable_transmitter(); } if (hott_msg_len == 0) { hott_msg_ptr = 0; - hott_telemetry_is_sending = FALSE; + hott_telemetry_is_sending = false; hott_telemetry_sendig_msgs_id = 0; msg_crc = 0; hott_enable_receiver(); @@ -232,28 +232,28 @@ static void hott_check_serial_data(uint32_t tnow) #if HOTT_SIM_EAM_SENSOR if (addr == HOTT_TELEMETRY_EAM_SENSOR_ID) { hott_send_msg((int8_t *)&hott_eam_msg, sizeof(struct HOTT_EAM_MSG)); - HOTT_REQ_UPDATE_EAM = TRUE; + HOTT_REQ_UPDATE_EAM = true; break; } #endif #if HOTT_SIM_GAM_SENSOR if (addr == HOTT_TELEMETRY_GAM_SENSOR_ID) { hott_send_msg((int8_t *)&hott_gam_msg, sizeof(struct HOTT_GAM_MSG)); - HOTT_REQ_UPDATE_GAM = TRUE; + HOTT_REQ_UPDATE_GAM = true; break; } #endif #if HOTT_SIM_GPS_SENSOR if (addr == HOTT_TELEMETRY_GPS_SENSOR_ID) { hott_send_msg((int8_t *)&hott_gps_msg, sizeof(struct HOTT_GPS_MSG)); - HOTT_REQ_UPDATE_GPS = TRUE; + HOTT_REQ_UPDATE_GPS = true; break; } #endif #if HOTT_SIM_VARIO_SENSOR if (addr == HOTT_TELEMETRY_VARIO_SENSOR_ID) { hott_send_msg((int8_t *)&hott_vario_msg, sizeof(struct HOTT_VARIO_MSG)); - HOTT_REQ_UPDATE_VARIO = TRUE; + HOTT_REQ_UPDATE_VARIO = true; break; } #endif diff --git a/sw/airborne/modules/ins/ahrs_chimu.h b/sw/airborne/modules/ins/ahrs_chimu.h index 6f47e2c638..0bc40c4e57 100644 --- a/sw/airborne/modules/ins/ahrs_chimu.h +++ b/sw/airborne/modules/ins/ahrs_chimu.h @@ -30,8 +30,8 @@ #include "subsystems/ahrs.h" struct AhrsChimu { - bool_t is_enabled; - bool_t is_aligned; + bool is_enabled; + bool is_aligned; }; extern struct AhrsChimu ahrs_chimu; diff --git a/sw/airborne/modules/ins/ahrs_chimu_spi.c b/sw/airborne/modules/ins/ahrs_chimu_spi.c index a52c2bdadf..f5edc7fd15 100644 --- a/sw/airborne/modules/ins/ahrs_chimu_spi.c +++ b/sw/airborne/modules/ins/ahrs_chimu_spi.c @@ -55,7 +55,7 @@ static void gps_cb(uint8_t sender_id __attribute__((unused)), ahrs_chimu_update_gps(gps_s->fix, gps_s->speed_3d); } -static bool_t ahrs_chimu_enable_output(bool_t enable) +static bool ahrs_chimu_enable_output(bool enable) { ahrs_chimu.is_enabled = enable; return ahrs_chimu.is_enabled; @@ -70,8 +70,8 @@ void ahrs_chimu_register(void) void ahrs_chimu_init(void) { - ahrs_chimu.is_enabled = TRUE; - ahrs_chimu.is_aligned = FALSE; + ahrs_chimu.is_enabled = true; + ahrs_chimu.is_aligned = false; // uint8_t ping[7] = {CHIMU_STX, CHIMU_STX, 0x01, CHIMU_BROADCAST, MSG00_PING, 0x00, 0xE6 }; uint8_t rate[12] = {CHIMU_STX, CHIMU_STX, 0x06, CHIMU_BROADCAST, MSG10_UARTSETTINGS, 0x05, 0xff, 0x79, 0x00, 0x00, 0x01, 0x76 }; // 50Hz attitude only + SPI @@ -120,7 +120,7 @@ void parse_ins_msg(void) } //FIXME - ahrs_chimu.is_aligned = TRUE; + ahrs_chimu.is_aligned = true; if (ahrs_chimu.is_enabled) { struct FloatEulers att = { diff --git a/sw/airborne/modules/ins/ahrs_chimu_uart.c b/sw/airborne/modules/ins/ahrs_chimu_uart.c index 27aed008f6..c1b16891bd 100644 --- a/sw/airborne/modules/ins/ahrs_chimu_uart.c +++ b/sw/airborne/modules/ins/ahrs_chimu_uart.c @@ -32,7 +32,7 @@ INS_FORMAT ins_pitch_neutral; struct AhrsChimu ahrs_chimu; -static bool_t ahrs_chimu_enable_output(bool_t enable) +static bool ahrs_chimu_enable_output(bool enable) { ahrs_chimu.is_enabled = enable; return ahrs_chimu.is_enabled; @@ -46,8 +46,8 @@ void ahrs_chimu_register(void) void ahrs_chimu_init(void) { - ahrs_chimu.is_enabled = TRUE; - ahrs_chimu.is_aligned = FALSE; + ahrs_chimu.is_enabled = true; + ahrs_chimu.is_aligned = false; uint8_t ping[7] = {CHIMU_STX, CHIMU_STX, 0x01, CHIMU_BROADCAST, MSG00_PING, 0x00, 0xE6 }; uint8_t rate[12] = {CHIMU_STX, CHIMU_STX, 0x06, CHIMU_BROADCAST, MSG10_UARTSETTINGS, 0x05, 0xff, 0x79, 0x00, 0x00, 0x01, 0x76 }; // 50Hz attitude only + SPI @@ -92,7 +92,7 @@ void parse_ins_msg(void) CHIMU_DATA.m_attitude.euler.phi -= 2 * M_PI; } - ahrs_chimu.is_aligned = TRUE; + ahrs_chimu.is_aligned = true; if (ahrs_chimu.is_enabled) { struct FloatEulers att = { diff --git a/sw/airborne/modules/ins/imu_chimu.c b/sw/airborne/modules/ins/imu_chimu.c index bcbb09f530..2b6c77d7ff 100644 --- a/sw/airborne/modules/ins/imu_chimu.c +++ b/sw/airborne/modules/ins/imu_chimu.c @@ -153,7 +153,7 @@ unsigned char CHIMU_Parse( CHIMU_PARSER_DATA *pstData) /* resulting data */ { - char bUpdate = FALSE; + unsigned char bUpdate = 0; switch (pstData->m_State) { case CHIMU_STATE_MACHINE_START: // Waiting for start character 0xAE @@ -164,7 +164,7 @@ unsigned char CHIMU_Parse( } else { ;; } - bUpdate = FALSE; + bUpdate = 0; break; case CHIMU_STATE_MACHINE_HEADER2: // Waiting for second header character 0xAE if (btData == 0xAE) { @@ -214,14 +214,14 @@ unsigned char CHIMU_Parse( (unsigned long)(pstData->m_MsgLen) + 5)) & 0xFF); pstData->m_State = CHIMU_STATE_MACHINE_XSUM; } else { - return FALSE; + return 0; } break; case CHIMU_STATE_MACHINE_XSUM: // Verify pstData->m_ReceivedChecksum = btData; pstData->m_FullMessage[pstData->m_Index++] = btData; if (pstData->m_Checksum != pstData->m_ReceivedChecksum) { - bUpdate = FALSE; + bUpdate = 0; //BuiltInTest(BIT_COM_UART_RECEIPTFAIL, BIT_FAIL); } else { //Xsum passed, go parse it. @@ -283,7 +283,7 @@ static CHIMU_attitude_data GetEulersFromQuat(CHIMU_attitude_data attitude) static unsigned char BitTest(unsigned char input, unsigned char n) { //Test a bit in n and return TRUE or FALSE - if (input & (1 << n)) { return TRUE; } else { return FALSE; } + if (input & (1 << n)) { return 1; } else { return 0; } } unsigned char CHIMU_ProcessMessage(unsigned char *pMsgID __attribute__((unused)), unsigned char *pPayloadData, CHIMU_PARSER_DATA *pstData) @@ -307,7 +307,7 @@ unsigned char CHIMU_ProcessMessage(unsigned char *pMsgID __attribute__((unused)) pstData->gCHIMU_SW_SerialNumber = (pPayloadData[CHIMU_index] << 8) & (0x0000FF00); CHIMU_index++; pstData->gCHIMU_SW_SerialNumber += pPayloadData[CHIMU_index]; CHIMU_index++; - return TRUE; + return 1; break; case CHIMU_Msg_1_IMU_Raw: break; @@ -334,7 +334,7 @@ unsigned char CHIMU_ProcessMessage(unsigned char *pMsgID __attribute__((unused)) memmove(&pstData->m_sensor.spare1, &pPayloadData[CHIMU_index], sizeof(pstData->m_sensor.spare1)); CHIMU_index += (sizeof(pstData->m_sensor.spare1)); pstData->m_sensor.spare1 = FloatSwap(pstData->m_sensor.spare1); - return TRUE; + return 1; break; case CHIMU_Msg_3_IMU_Attitude: //Attitude message data from CHIMU @@ -410,7 +410,7 @@ unsigned char CHIMU_ProcessMessage(unsigned char *pMsgID __attribute__((unused)) //TODO: Log BIT that indicates IMU message incoming failed (maybe SPI error?) } - return TRUE; + return 1; break; case CHIMU_Msg_4_BiasSF: case CHIMU_Msg_5_BIT: @@ -426,8 +426,8 @@ unsigned char CHIMU_ProcessMessage(unsigned char *pMsgID __attribute__((unused)) case CHIMU_Msg_15_SFCheck: break; default: - return FALSE; + return 0; break; } - return FALSE; + return 0; } diff --git a/sw/airborne/modules/ins/imu_xsens.c b/sw/airborne/modules/ins/imu_xsens.c new file mode 100644 index 0000000000..37c186dd8f --- /dev/null +++ b/sw/airborne/modules/ins/imu_xsens.c @@ -0,0 +1,96 @@ +/* + * Copyright (C) 2003 Pascal Brisset, Antoine Drouin + * + * This file is part of paparazzi. + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, write to + * the Free Software Foundation, 59 Temple Place - Suite 330, + * Boston, MA 02111-1307, USA. + * + */ + +/** @file imu_xsens.c + * XSENS to just provide IMU measurements. + * For use with an external AHRS algorithm. + */ + +#include "imu_xsens.h" +#include "xsens.h" +#include "xsens_common.h" + +#include "generated/airframe.h" + +#include "mcu_periph/sys_time.h" +#include "subsystems/abi.h" + +static void handle_ins_msg(void); + +void imu_xsens_init(void) +{ + xsens_init(); +} + +void imu_xsens_event(void) +{ + xsens_event(); + if (xsens.msg_received) { + parse_xsens_msg(); + handle_ins_msg(); + xsens.msg_received = FALSE; + } +} + +static void handle_ins_msg(void) +{ + uint32_t now_ts = get_sys_time_usec(); +#ifdef XSENS_BACKWARDS + if (xsens.gyro_available) { + RATES_ASSIGN(imu.gyro_unscaled, -RATE_BFP_OF_REAL(xsens.gyro.p), -RATE_BFP_OF_REAL(xsens.gyro.q), RATE_BFP_OF_REAL(xsens.gyro.r)); + xsens.gyro_available = FALSE; + imu_scale_gyro(&imu); + AbiSendMsgIMU_GYRO_INT32(IMU_XSENS_ID, now_ts, &imu.gyro); + } + if (xsens.accel_available) { + VECT3_ASSIGN(imu.accel_unscaled, -ACCEL_BFP_OF_REAL(xsens.accel.ax), -ACCEL_BFP_OF_REAL(xsens.accel.ay), ACCEL_BFP_OF_REAL(xsens.accel.az)); + xsens.accel_available = FALSE; + imu_scale_accel(&imu); + AbiSendMsgIMU_ACCEL_INT32(IMU_XSENS_ID, now_ts, &imu.accel); + } + if (xsens.mag_available) { + VECT3_ASSIGN(imu.mag_unscaled, -MAG_BFP_OF_REAL(xsens.mag.mx), -MAG_BFP_OF_REAL(xsens.mag.my), MAG_BFP_OF_REAL(xsens.mag.mz)); + xsens.mag_available = FALSE; + imu_scale_mag(&imu); + AbiSendMsgIMU_MAG_INT32(IMU_XSENS_ID, now_ts, &imu.mag); + } +#else + if (xsens.gyro_available) { + RATES_BFP_OF_REAL(imu.gyro_unscaled, xsens.gyro); + xsens.gyro_available = FALSE; + imu_scale_gyro(&imu); + AbiSendMsgIMU_GYRO_INT32(IMU_XSENS_ID, now_ts, &imu.gyro); + } + if (xsens.accel_available) { + ACCELS_BFP_OF_REAL(imu.accel_unscaled, xsens.accel); + xsens.accel_available = FALSE; + imu_scale_accel(&imu); + AbiSendMsgIMU_ACCEL_INT32(IMU_XSENS_ID, now_ts, &imu.accel); + } + if (xsens.mag_available) { + MAGS_BFP_OF_REAL(imu.mag_unscaled, xsens.mag); + xsens.mag_available = FALSE; + imu_scale_mag(&imu); + AbiSendMsgIMU_MAG_INT32(IMU_XSENS_ID, now_ts, &imu.mag); + } +#endif /* XSENS_BACKWARDS */ +} diff --git a/sw/airborne/modules/ins/imu_xsens.h b/sw/airborne/modules/ins/imu_xsens.h new file mode 100644 index 0000000000..d347515a52 --- /dev/null +++ b/sw/airborne/modules/ins/imu_xsens.h @@ -0,0 +1,45 @@ +/* + * Copyright (C) 2010 ENAC + * + * This file is part of paparazzi. + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, write to + * the Free Software Foundation, 59 Temple Place - Suite 330, + * Boston, MA 02111-1307, USA. + * + */ + +/** + * @file modules/ins/imu_xsens.h + * + * XSENS to just provide IMU measurements. + * For use with an external AHRS algorithm. + */ + +#ifndef IMU_XSENS_H +#define IMU_XSENS_H + +#include "std.h" + +#include "subsystems/imu.h" +#include "xsens.h" + +extern void imu_xsens_init(void); +extern void imu_xsens_event(void); + +#define ImuEvent imu_xsens_event +#define imu_impl_init imu_xsens_init +#define imu_periodic xsens_periodic + +#endif diff --git a/sw/airborne/modules/ins/ins_arduimu.c b/sw/airborne/modules/ins/ins_arduimu.c index 42f06aaa25..d1e661a890 100644 --- a/sw/airborne/modules/ins/ins_arduimu.c +++ b/sw/airborne/modules/ins/ins_arduimu.c @@ -55,10 +55,10 @@ void ArduIMU_init(void) ardu_gps_trans.buf[0] = 0; ardu_gps_trans.buf[1] = 0; messageNr = 0; - imu_daten_angefordert = FALSE; - gps_daten_abgespeichert = FALSE; - gps_daten_versendet_msg1 = FALSE; - gps_daten_versendet_msg2 = FALSE; + imu_daten_angefordert = false; + gps_daten_abgespeichert = false; + gps_daten_versendet_msg1 = false; + gps_daten_versendet_msg2 = false; ins_roll_neutral = INS_ROLL_NEUTRAL_DEFAULT; ins_pitch_neutral = INS_PITCH_NEUTRAL_DEFAULT; // pitch_of_throttle_gain = PITCH_OF_THROTTLE_GAIN; @@ -70,7 +70,7 @@ void ArduIMU_periodicGPS(void) { if (gps_daten_versendet_msg1 == TRUE && gps_daten_versendet_msg2 == TRUE) { - gps_daten_abgespeichert = FALSE; + gps_daten_abgespeichert = false; } if (imu_daten_angefordert == TRUE) { @@ -97,7 +97,7 @@ void ArduIMU_periodicGPS(void) GPS_Data [12] = -gps.ned_vel.z; GPS_Data [13] = gps.num_sv; - gps_daten_abgespeichert = TRUE; + gps_daten_abgespeichert = true; } if (messageNr == 0) { @@ -136,7 +136,7 @@ void ArduIMU_periodicGPS(void) ardu_gps_trans.buf[28] = (uint8_t)(GPS_Data[6] >> 24); i2c_transmit(&ARDUIMU_I2C_DEV, &ardu_gps_trans, ArduIMU_SLAVE_ADDR, 28); - gps_daten_versendet_msg1 = TRUE; + gps_daten_versendet_msg1 = true; messageNr = 1; } else { @@ -156,7 +156,7 @@ void ArduIMU_periodicGPS(void) ardu_gps_trans.buf[13] = GPS_Data[11]; //sol flags i2c_transmit(&ARDUIMU_I2C_DEV, &ardu_gps_trans, ArduIMU_SLAVE_ADDR, 13); - gps_daten_versendet_msg2 = TRUE; + gps_daten_versendet_msg2 = true; messageNr = 0; } @@ -173,7 +173,7 @@ void ArduIMU_periodic(void) } i2c_receive(&ARDUIMU_I2C_DEV, &ardu_ins_trans, ArduIMU_SLAVE_ADDR, 12); - imu_daten_angefordert = TRUE; + imu_daten_angefordert = true; /* Buffer O: Roll Buffer 1: Pitch @@ -213,7 +213,7 @@ void IMU_Daten_verarbeiten(void) att.phi = (float)ArduIMU_data[0] * 0.01745329252 - ins_roll_neutral; att.theta = (float)ArduIMU_data[1] * 0.01745329252 - ins_pitch_neutral; att.psi = 0.; - imu_daten_angefordert = FALSE; + imu_daten_angefordert = false; stateSetNedToBodyEulers_f(&att); uint8_t arduimu_id = 102; diff --git a/sw/airborne/modules/ins/ins_arduimu_basic.c b/sw/airborne/modules/ins/ins_arduimu_basic.c index f9e319fa1f..9a73b40479 100644 --- a/sw/airborne/modules/ins/ins_arduimu_basic.c +++ b/sw/airborne/modules/ins/ins_arduimu_basic.c @@ -68,15 +68,15 @@ float ins_pitch_neutral; // Ask the arduimu to recalibrate the gyros and accels neutrals // After calibration, values are store in the arduimu eeprom -bool_t arduimu_calibrate_neutrals; +bool arduimu_calibrate_neutrals; // High Accel Flag #define HIGH_ACCEL_LOW_SPEED 15.0 #define HIGH_ACCEL_LOW_SPEED_RESUME 4.0 // Hysteresis #define HIGH_ACCEL_HIGH_THRUST (0.8*MAX_PPRZ) #define HIGH_ACCEL_HIGH_THRUST_RESUME (0.1*MAX_PPRZ) // Hysteresis -bool_t high_accel_done; -bool_t high_accel_flag; +bool high_accel_done; +bool high_accel_flag; void ArduIMU_init(void) { @@ -89,10 +89,10 @@ void ArduIMU_init(void) ins_roll_neutral = INS_ROLL_NEUTRAL_DEFAULT; ins_pitch_neutral = INS_PITCH_NEUTRAL_DEFAULT; - arduimu_calibrate_neutrals = FALSE; + arduimu_calibrate_neutrals = false; - high_accel_done = FALSE; - high_accel_flag = FALSE; + high_accel_done = false; + high_accel_flag = false; } #define FillBufWith32bit(_buf, _index, _value) { \ @@ -113,14 +113,14 @@ void ArduIMU_periodicGPS(void) // - high thrust float speed = stateGetHorizontalSpeedNorm_f(); if (speed < HIGH_ACCEL_LOW_SPEED && ap_state->commands[COMMAND_THROTTLE] > HIGH_ACCEL_HIGH_THRUST && !high_accel_done) { - high_accel_flag = TRUE; + high_accel_flag = true; } else { - high_accel_flag = FALSE; + high_accel_flag = false; if (speed > HIGH_ACCEL_LOW_SPEED && !high_accel_done) { - high_accel_done = TRUE; // After takeoff, don't use high accel before landing (GS small, Throttle small) + high_accel_done = true; // After takeoff, don't use high accel before landing (GS small, Throttle small) } if (speed < HIGH_ACCEL_HIGH_THRUST_RESUME && ap_state->commands[COMMAND_THROTTLE] < HIGH_ACCEL_HIGH_THRUST_RESUME) { - high_accel_done = FALSE; // Activate high accel after landing + high_accel_done = false; // Activate high accel after landing } } #endif @@ -135,7 +135,7 @@ void ArduIMU_periodicGPS(void) i2c_transmit(&ARDUIMU_I2C_DEV, &ardu_gps_trans, ArduIMU_SLAVE_ADDR, 15); // Reset calibration flag - if (arduimu_calibrate_neutrals) { arduimu_calibrate_neutrals = FALSE; } + if (arduimu_calibrate_neutrals) { arduimu_calibrate_neutrals = false; } } void ArduIMU_periodic(void) diff --git a/sw/airborne/modules/ins/ins_arduimu_basic.h b/sw/airborne/modules/ins/ins_arduimu_basic.h index ddb207539c..5a6b887a8a 100644 --- a/sw/airborne/modules/ins/ins_arduimu_basic.h +++ b/sw/airborne/modules/ins/ins_arduimu_basic.h @@ -35,7 +35,7 @@ extern struct FloatVect3 arduimu_accel; extern float ins_roll_neutral; extern float ins_pitch_neutral; -extern bool_t arduimu_calibrate_neutrals; +extern bool arduimu_calibrate_neutrals; void ArduIMU_init(void); void ArduIMU_periodic(void); diff --git a/sw/airborne/modules/ins/ins_module.h b/sw/airborne/modules/ins/ins_module.h index bfb01dfad0..86a724eb26 100644 --- a/sw/airborne/modules/ins/ins_module.h +++ b/sw/airborne/modules/ins/ins_module.h @@ -97,7 +97,7 @@ static inline void ins_event_check_and_handle(void (* handler)(void)) if (ins_msg_received) { parse_ins_msg(); handler(); - ins_msg_received = FALSE; + ins_msg_received = false; } } diff --git a/sw/airborne/modules/ins/ins_vn100.c b/sw/airborne/modules/ins/ins_vn100.c index 15bf8cbce6..3a6fd7e349 100644 --- a/sw/airborne/modules/ins/ins_vn100.c +++ b/sw/airborne/modules/ins/ins_vn100.c @@ -106,7 +106,7 @@ void vn100_init(void) } -static inline bool_t ins_configure(void) +static inline bool ins_configure(void) { // nothing to receive during conf vn100_trans.input_length = 0; @@ -128,13 +128,13 @@ static inline bool_t ins_configure(void) ins_init_status++; break; case INS_VN100_READY : - return TRUE; + return true; } last_send_packet.CmdID = VN100_CmdID_WriteRegister; spi_submit(&(VN100_SPI_DEV), &vn100_trans); - return FALSE; + return false; } void vn100_periodic_task(void) diff --git a/sw/airborne/modules/ins/ins_xsens.c b/sw/airborne/modules/ins/ins_xsens.c index f24b6d5f0c..b8f709d3bf 100644 --- a/sw/airborne/modules/ins/ins_xsens.c +++ b/sw/airborne/modules/ins/ins_xsens.c @@ -21,244 +21,28 @@ */ /** @file ins_xsens.c - * Parser for the Xsens protocol. + * Xsens as a full INS solution */ -#include "ins_module.h" #include "ins_xsens.h" +#include "xsens_common.h" #include "subsystems/ins.h" -#include - #include "generated/airframe.h" #include "mcu_periph/sys_time.h" -#include "pprzlink/messages.h" +#include "subsystems/abi.h" +#include "state.h" #if USE_GPS_XSENS #if !USE_GPS #error "USE_GPS needs to be 1 to use the Xsens GPS!" #endif #include "subsystems/gps.h" -#include "subsystems/abi.h" -#include "math/pprz_geodetic_wgs84.h" #include "math/pprz_geodetic_float.h" #include "subsystems/navigation/common_nav.h" /* needed for nav_utm_zone0 */ -bool_t gps_xsens_msg_available; #endif -// positions -INS_FORMAT ins_x; -INS_FORMAT ins_y; -INS_FORMAT ins_z; - -// velocities -INS_FORMAT ins_vx; -INS_FORMAT ins_vy; -INS_FORMAT ins_vz; - -// body angles -INS_FORMAT ins_phi; -INS_FORMAT ins_theta; -INS_FORMAT ins_psi; - -// angle rates -INS_FORMAT ins_p; -INS_FORMAT ins_q; -INS_FORMAT ins_r; - -// accelerations -INS_FORMAT ins_ax; -INS_FORMAT ins_ay; -INS_FORMAT ins_az; - -// magnetic -INS_FORMAT ins_mx; -INS_FORMAT ins_my; -INS_FORMAT ins_mz; - -#if USE_INS_MODULE -float ins_pitch_neutral; -float ins_roll_neutral; -#endif - - -////////////////////////////////////////////////////////////////////////////////////////// -// -// XSens Specific -// - -volatile uint8_t ins_msg_received; - -#define XsensInitCheksum() { send_ck = 0; } -#define XsensUpdateChecksum(c) { send_ck += c; } - -#define XsensSend1(c) { uint8_t i8=c; InsUartSend1(i8); XsensUpdateChecksum(i8); } -#define XsensSend1ByAddr(x) { XsensSend1(*x); } -#define XsensSend2ByAddr(x) { XsensSend1(*(x+1)); XsensSend1(*x); } -#define XsensSend4ByAddr(x) { XsensSend1(*(x+3)); XsensSend1(*(x+2)); XsensSend1(*(x+1)); XsensSend1(*x); } - -#define XsensHeader(msg_id, len) { \ - InsUartSend1(XSENS_START); \ - XsensInitCheksum(); \ - XsensSend1(XSENS_BID); \ - XsensSend1(msg_id); \ - XsensSend1(len); \ - } -#define XsensTrailer() { uint8_t i8=0x100-send_ck; InsUartSend1(i8); } - -/** Includes macros generated from xsens_MTi-G.xml */ -#include "xsens_protocol.h" - - -#define XSENS_MAX_PAYLOAD 254 -uint8_t xsens_msg_buf[XSENS_MAX_PAYLOAD]; - -/* output mode : calibrated, orientation, position, velocity, status - * ----------- - * - * bit 0 temp - * bit 1 calibrated - * bit 2 orentation - * bit 3 aux - * - * bit 4 position - * bit 5 velocity - * bit 6-7 Reserved - * - * bit 8-10 Reserved - * bit 11 status - * - * bit 12 GPS PVT+baro - * bit 13 Reserved - * bit 14 Raw - * bit 15 Reserved - */ - -#ifndef XSENS_OUTPUT_MODE -#define XSENS_OUTPUT_MODE 0x1836 -#endif -/* output settings : timestamp, euler, acc, rate, mag, float, no aux, lla, m/s, NED - * ----------- - * - * bit 01 0=none, 1=sample counter, 2=utc, 3=sample+utc - * bit 23 0=quaternion, 1=euler, 2=DCM - * - * bit 4 1=disable acc output - * bit 5 1=disable gyro output - * bit 6 1=disable magneto output - * bit 7 Reserved - * - * bit 89 0=float, 1=fixedpoint12.20, 2=fixedpoint16.32 - * bit 10 1=disable aux analog 1 - * bit 11 1=disable aux analog 2 - * - * bit 12-15 0-only: 14-16 WGS84 - * - * bit 16-19 0-only: 16-18 m/s XYZ - * - * bit 20-23 Reserved - * - * bit 24-27 Reseverd - * - * bit 28-30 Reseverd - * bit 31 0=X-North-Z-Up, 1=North-East-Down - */ -#ifndef XSENS_OUTPUT_SETTINGS -#define XSENS_OUTPUT_SETTINGS 0x80000C05 -#endif - -#define UNINIT 0 -#define GOT_START 1 -#define GOT_BID 2 -#define GOT_MID 3 -#define GOT_LEN 4 -#define GOT_DATA 5 -#define GOT_CHECKSUM 6 - -// FIXME Debugging Only -#include "mcu_periph/uart.h" -#include "pprzlink/messages.h" -#include "subsystems/datalink/downlink.h" - - -uint8_t xsens_errorcode; -uint8_t xsens_msg_status; -uint16_t xsens_time_stamp; -uint16_t xsens_output_mode; -uint32_t xsens_output_settings; - - -float xsens_declination = 0; -float xsens_gps_arm_x = 0; -float xsens_gps_arm_y = 0; -float xsens_gps_arm_z = 0; - -#if USE_GPS_XSENS -struct LlaCoor_f lla_f; -struct UtmCoor_f utm_f; -#endif - -struct XsensTime xsens_time; - -static uint8_t xsens_id; -static uint8_t xsens_status; -static uint8_t xsens_len; -static uint8_t xsens_msg_idx; -static uint8_t ck; -uint8_t send_ck; - -volatile int xsens_configured = 0; - -void xsens_init(void); - -void xsens_init(void) -{ - - xsens_status = UNINIT; - xsens_configured = 20; - -#if USE_INS_MODULE - ins_pitch_neutral = INS_PITCH_NEUTRAL_DEFAULT; - ins_roll_neutral = INS_ROLL_NEUTRAL_DEFAULT; -#endif - - xsens_msg_status = 0; - xsens_time_stamp = 0; - xsens_output_mode = XSENS_OUTPUT_MODE; - xsens_output_settings = XSENS_OUTPUT_SETTINGS; -} - -#if USE_IMU -struct ImuXsens imu_xsens; - -void imu_impl_init(void) -{ - xsens_init(); - imu_xsens.gyro_available = FALSE; - imu_xsens.accel_available = FALSE; - imu_xsens.mag_available = FALSE; -} - -void imu_periodic(void) -{ - xsens_periodic(); -} -#endif /* USE_IMU */ - -#if USE_INS_MODULE -void ins_xsens_update_gps(struct GpsState *gps_s); - -void ins_xsens_init(void) -{ - struct UtmCoor_f utm0 = { nav_utm_north0, nav_utm_east0, 0., nav_utm_zone0 }; - stateSetLocalUtmOrigin_f(&utm0); - stateSetPositionUtm_f(&utm0); - - xsens_init(); -} - -#include "subsystems/abi.h" /** ABI binding for gps data. * Used for GPS ABI messages. */ @@ -267,12 +51,15 @@ void ins_xsens_init(void) #endif PRINT_CONFIG_VAR(INS_XSENS_GPS_ID) static abi_event gps_ev; + +float ins_pitch_neutral; +float ins_roll_neutral; + +static void handle_ins_msg(void); +static void update_state_interface(void); static void gps_cb(uint8_t sender_id __attribute__((unused)), uint32_t stamp __attribute__((unused)), - struct GpsState *gps_s) -{ - ins_xsens_update_gps(gps_s); -} + struct GpsState *gps_s); void ins_xsens_register(void) { @@ -280,7 +67,31 @@ void ins_xsens_register(void) AbiBindMsgGPS(INS_XSENS_GPS_ID, &gps_ev, gps_cb); } -void ins_xsens_update_gps(struct GpsState *gps_s) +void ins_xsens_init(void) +{ + xsens_init(); + + ins_pitch_neutral = INS_PITCH_NEUTRAL_DEFAULT; + ins_roll_neutral = INS_ROLL_NEUTRAL_DEFAULT; + + struct UtmCoor_f utm0 = { nav_utm_north0, nav_utm_east0, 0., nav_utm_zone0 }; + stateSetLocalUtmOrigin_f(&utm0); + stateSetPositionUtm_f(&utm0); +} + +void ins_xsens_event(void) +{ + xsens_event(); + if (xsens.msg_received) { + parse_xsens_msg(); + handle_ins_msg(); + xsens.msg_received = false; + } +} + +static void gps_cb(uint8_t sender_id __attribute__((unused)), + uint32_t stamp __attribute__((unused)), + struct GpsState *gps_s) { struct UtmCoor_f utm = utm_float_from_gps(gps_s, nav_utm_zone0); utm.alt = gps_s->hmsl / 1000.; @@ -296,485 +107,85 @@ void ins_xsens_update_gps(struct GpsState *gps_s) // set velocity stateSetSpeedNed_f(&ned_vel); } -#endif #if USE_GPS_XSENS void gps_xsens_init(void) { - gps.nb_channels = 0; + xsens.gps.nb_channels = 0; } static void gps_xsens_publish(void) { // publish gps data uint32_t now_ts = get_sys_time_usec(); - gps.last_msg_ticks = sys_time.nb_sec_rem; - gps.last_msg_time = sys_time.nb_sec; - if (gps.fix == GPS_FIX_3D) { - gps.last_3dfix_ticks = sys_time.nb_sec_rem; - gps.last_3dfix_time = sys_time.nb_sec; + xsens.gps.last_msg_ticks = sys_time.nb_sec_rem; + xsens.gps.last_msg_time = sys_time.nb_sec; + if (xsens.gps.fix == GPS_FIX_3D) { + xsens.gps.last_3dfix_ticks = sys_time.nb_sec_rem; + xsens.gps.last_3dfix_time = sys_time.nb_sec; } - AbiSendMsgGPS(GPS_XSENS_ID, now_ts, &gps); + AbiSendMsgGPS(GPS_XSENS_ID, now_ts, &xsens.gps); } #endif -void xsens_periodic(void) -{ - if (xsens_configured > 0) { - switch (xsens_configured) { - case 20: - /* send mode and settings to MT */ - XSENS_GoToConfig(); - XSENS_SetOutputMode(xsens_output_mode); - XSENS_SetOutputSettings(xsens_output_settings); - break; - case 18: - // Give pulses on SyncOut - XSENS_SetSyncOutSettings(0, 0x0002); - break; - case 17: - // 1 pulse every 100 samples - XSENS_SetSyncOutSettings(1, 100); - break; - case 2: - XSENS_ReqLeverArmGps(); - break; - case 6: - XSENS_ReqMagneticDeclination(); - break; - - case 13: -#ifdef AHRS_H_X -#pragma message "Sending XSens Magnetic Declination." - xsens_declination = atan2(AHRS_H_Y, AHRS_H_X); - XSENS_SetMagneticDeclination(xsens_declination); -#endif - break; - case 12: -#ifdef GPS_IMU_LEVER_ARM_X -#pragma message "Sending XSens GPS Arm." - XSENS_SetLeverArmGps(GPS_IMU_LEVER_ARM_X, GPS_IMU_LEVER_ARM_Y, GPS_IMU_LEVER_ARM_Z); -#endif - break; - case 10: { - uint8_t baud = 1; - XSENS_SetBaudrate(baud); - } - break; - - case 1: - XSENS_GoToMeasurment(); - break; - - default: - break; - } - xsens_configured--; - return; - } - - RunOnceEvery(100, XSENS_ReqGPSStatus()); -} - -#if USE_INS_MODULE -#include "state.h" - -static inline void update_state_interface(void) +static void update_state_interface(void) { // Send to Estimator (Control) #ifdef XSENS_BACKWARDS struct FloatEulers att = { - -ins_phi + ins_roll_neutral, - -ins_theta + ins_pitch_neutral, - ins_psi + RadOfDeg(180) + -xsens.euler.phi + ins_roll_neutral, + -xsens.euler.theta + ins_pitch_neutral, + xsens.euler.psi + RadOfDeg(180) }; - struct FloatRates rates = { - -ins_p, - -ins_q, - ins_r + struct FloatEulerstRates rates = { + -xsens.gyro.p, + -xsens.gyro.q, + xsens.gyro.r }; #else struct FloatEulers att = { - ins_phi + ins_roll_neutral, - ins_theta + ins_pitch_neutral, - ins_psi - }; - struct FloatRates rates = { - ins_p, - ins_q, - ins_r + xsens.euler.phi + ins_roll_neutral, + xsens.euler.theta + ins_pitch_neutral, + xsens.euler.psi }; + struct FloatRates rates = xsens.gyro; #endif stateSetNedToBodyEulers_f(&att); stateSetBodyRates_f(&rates); } -#endif /* USE_INS_MODULE */ -void handle_ins_msg(void) + +static void handle_ins_msg(void) { -#if USE_INS_MODULE update_state_interface(); -#endif -#if USE_IMU - uint32_t now_ts = get_sys_time_usec(); -#ifdef XSENS_BACKWARDS - if (imu_xsens.gyro_available) { - RATES_ASSIGN(imu.gyro_unscaled, -RATE_BFP_OF_REAL(ins_p), -RATE_BFP_OF_REAL(ins_q), RATE_BFP_OF_REAL(ins_r)); - imu_xsens.gyro_available = FALSE; - imu_scale_gyro(&imu); - AbiSendMsgIMU_GYRO_INT32(IMU_XSENS_ID, now_ts, &imu.gyro); + if (xsens.new_attitude) { + new_ins_attitude = true; + xsens.new_attitude = false; } - if (imu_xsens.accel_available) { - VECT3_ASSIGN(imu.accel_unscaled, -ACCEL_BFP_OF_REAL(ins_ax), -ACCEL_BFP_OF_REAL(ins_ay), ACCEL_BFP_OF_REAL(ins_az)); - imu_xsens.accel_available = FALSE; - imu_scale_accel(&imu); - AbiSendMsgIMU_ACCEL_INT32(IMU_XSENS_ID, now_ts, &imu.accel); - } - if (imu_xsens.mag_available) { - VECT3_ASSIGN(imu.mag_unscaled, -MAG_BFP_OF_REAL(ins_mx), -MAG_BFP_OF_REAL(ins_my), MAG_BFP_OF_REAL(ins_mz)); - imu_xsens.mag_available = FALSE; - imu_scale_mag(&imu); - AbiSendMsgIMU_MAG_INT32(IMU_XSENS_ID, now_ts, &imu.mag); - } -#else - if (imu_xsens.gyro_available) { - RATES_ASSIGN(imu.gyro_unscaled, RATE_BFP_OF_REAL(ins_p), RATE_BFP_OF_REAL(ins_q), RATE_BFP_OF_REAL(ins_r)); - imu_xsens.gyro_available = FALSE; - imu_scale_gyro(&imu); - AbiSendMsgIMU_GYRO_INT32(IMU_XSENS_ID, now_ts, &imu.gyro); - } - if (imu_xsens.accel_available) { - VECT3_ASSIGN(imu.accel_unscaled, ACCEL_BFP_OF_REAL(ins_ax), ACCEL_BFP_OF_REAL(ins_ay), ACCEL_BFP_OF_REAL(ins_az)); - imu_xsens.accel_available = FALSE; - imu_scale_accel(&imu); - AbiSendMsgIMU_ACCEL_INT32(IMU_XSENS_ID, now_ts, &imu.accel); - } - if (imu_xsens.mag_available) { - VECT3_ASSIGN(imu.mag_unscaled, MAG_BFP_OF_REAL(ins_mx), MAG_BFP_OF_REAL(ins_my), MAG_BFP_OF_REAL(ins_mz)); - imu_xsens.mag_available = FALSE; - imu_scale_mag(&imu); - AbiSendMsgIMU_MAG_INT32(IMU_XSENS_ID, now_ts, &imu.mag); - } -#endif /* XSENS_BACKWARDS */ -#endif /* USE_IMU */ #if USE_GPS_XSENS + if (xsens.gps_available) { + // Horizontal speed + float fspeed = FLOAT_VECT2_NORM(xsens.vel); + if (xsens.gps.fix != GPS_FIX_3D) { + fspeed = 0; + } + xsens.gps.gspeed = fspeed * 100.; + xsens.gps.speed_3d = float_vect3_norm(&xsens.vel) * 100; - // Horizontal speed - float fspeed = sqrt(ins_vx * ins_vx + ins_vy * ins_vy); - if (gps.fix != GPS_FIX_3D) { - fspeed = 0; + float fcourse = atan2f(xsens.vel.y, xsens.vel.x); + xsens.gps.course = fcourse * 1e7; + SetBit(xsens.gps.valid_fields, GPS_VALID_COURSE_BIT); + + gps_xsens_publish(); + xsens.gps_available = false; } - gps.gspeed = fspeed * 100.; - gps.speed_3d = (uint16_t)(sqrt(ins_vx * ins_vx + ins_vy * ins_vy + ins_vz * ins_vz) * 100); - - float fcourse = atan2f((float)ins_vy, (float)ins_vx); - gps.course = fcourse * 1e7; - SetBit(gps.valid_fields, GPS_VALID_COURSE_BIT); #endif // USE_GPS_XSENS } -void parse_ins_msg(void) -{ - uint8_t offset = 0; - if (xsens_id == XSENS_ReqOutputModeAck_ID) { - xsens_output_mode = XSENS_ReqOutputModeAck_mode(xsens_msg_buf); - } else if (xsens_id == XSENS_ReqOutputSettings_ID) { - xsens_output_settings = XSENS_ReqOutputSettingsAck_settings(xsens_msg_buf); - } else if (xsens_id == XSENS_ReqMagneticDeclinationAck_ID) { - xsens_declination = DegOfRad(XSENS_ReqMagneticDeclinationAck_declination(xsens_msg_buf)); - - DOWNLINK_SEND_IMU_MAG_SETTINGS(DefaultChannel, DefaultDevice, &xsens_declination, &xsens_declination, &xsens_gps_arm_x, - &xsens_gps_arm_y, &xsens_gps_arm_z); - } else if (xsens_id == XSENS_ReqLeverArmGpsAck_ID) { - xsens_gps_arm_x = XSENS_ReqLeverArmGpsAck_x(xsens_msg_buf); - xsens_gps_arm_y = XSENS_ReqLeverArmGpsAck_y(xsens_msg_buf); - xsens_gps_arm_z = XSENS_ReqLeverArmGpsAck_z(xsens_msg_buf); - - DOWNLINK_SEND_IMU_MAG_SETTINGS(DefaultChannel, DefaultDevice, &xsens_declination, &xsens_declination, &xsens_gps_arm_x, - &xsens_gps_arm_y, &xsens_gps_arm_z); - } else if (xsens_id == XSENS_Error_ID) { - xsens_errorcode = XSENS_Error_errorcode(xsens_msg_buf); - } -#if USE_GPS_XSENS - else if (xsens_id == XSENS_GPSStatus_ID) { - gps.nb_channels = XSENS_GPSStatus_nch(xsens_msg_buf); - gps.num_sv = 0; - - uint8_t i; - // Do not write outside buffer - for (i = 0; i < Min(gps.nb_channels, GPS_NB_CHANNELS); i++) { - uint8_t ch = XSENS_GPSStatus_chn(xsens_msg_buf, i); - if (ch > gps.nb_channels) { continue; } - gps.svinfos[ch].svid = XSENS_GPSStatus_svid(xsens_msg_buf, i); - gps.svinfos[ch].flags = XSENS_GPSStatus_bitmask(xsens_msg_buf, i); - gps.svinfos[ch].qi = XSENS_GPSStatus_qi(xsens_msg_buf, i); - gps.svinfos[ch].cno = XSENS_GPSStatus_cnr(xsens_msg_buf, i); - if (gps.svinfos[ch].flags > 0) { - gps.num_sv++; - } - } - } -#endif - else if (xsens_id == XSENS_MTData_ID) { - /* test RAW modes else calibrated modes */ - //if ((XSENS_MASK_RAWInertial(xsens_output_mode)) || (XSENS_MASK_RAWGPS(xsens_output_mode))) { - if (XSENS_MASK_RAWInertial(xsens_output_mode)) { - ins_p = XSENS_DATA_RAWInertial_gyrX(xsens_msg_buf, offset); - ins_q = XSENS_DATA_RAWInertial_gyrY(xsens_msg_buf, offset); - ins_r = XSENS_DATA_RAWInertial_gyrZ(xsens_msg_buf, offset); -#if USE_IMU - imu_xsens.gyro_available = TRUE; -#endif - offset += XSENS_DATA_RAWInertial_LENGTH; - } - if (XSENS_MASK_RAWGPS(xsens_output_mode)) { -#if USE_GPS_XSENS_RAW_DATA && USE_GPS_XSENS - - gps.week = 0; // FIXME - gps.tow = XSENS_DATA_RAWGPS_itow(xsens_msg_buf, offset) * 10; - gps.lla_pos.lat = XSENS_DATA_RAWGPS_lat(xsens_msg_buf, offset); - gps.lla_pos.lon = XSENS_DATA_RAWGPS_lon(xsens_msg_buf, offset); - gps.lla_pos.alt = XSENS_DATA_RAWGPS_alt(xsens_msg_buf, offset); - SetBit(gps.valid_fields, GPS_VALID_POS_LLA_BIT); - - /* Set the real UTM zone */ - gps.utm_pos.zone = (gps.lla_pos.lon / 1e7 + 180) / 6 + 1; - LLA_FLOAT_OF_BFP(lla_f, gps.lla_pos); - utm_f.zone = nav_utm_zone0; - /* convert to utm */ - utm_of_lla_f(&utm_f, &lla_f); - /* copy results of utm conversion */ - gps.utm_pos.east = utm_f.east * 100; - gps.utm_pos.north = utm_f.north * 100; - gps.utm_pos.alt = gps.lla_pos.alt; - SetBit(gps.valid_fields, GPS_VALID_POS_UTM_BIT); - - ins_x = utm_f.east; - ins_y = utm_f.north; - // Altitude: Xsens LLH gives ellipsoid height - ins_z = -(INS_FORMAT)XSENS_DATA_RAWGPS_alt(xsens_msg_buf, offset) / 1000.; - - // Compute geoid (MSL) height - float hmsl = wgs84_ellipsoid_to_geoid(lla_f.lat, lla_f.lon); - gps.hmsl = XSENS_DATA_RAWGPS_alt(xsens_msg_buf, offset) - (hmsl * 1000.0f); - SetBit(gps.valid_fields, GPS_VALID_HMSL_BIT); - - ins_vx = ((INS_FORMAT)XSENS_DATA_RAWGPS_vel_n(xsens_msg_buf, offset)) / 100.; - ins_vy = ((INS_FORMAT)XSENS_DATA_RAWGPS_vel_e(xsens_msg_buf, offset)) / 100.; - ins_vz = ((INS_FORMAT)XSENS_DATA_RAWGPS_vel_d(xsens_msg_buf, offset)) / 100.; - gps.ned_vel.x = XSENS_DATA_RAWGPS_vel_n(xsens_msg_buf, offset); - gps.ned_vel.y = XSENS_DATA_RAWGPS_vel_e(xsens_msg_buf, offset); - gps.ned_vel.z = XSENS_DATA_RAWGPS_vel_d(xsens_msg_buf, offset); - SetBit(gps.valid_fields, GPS_VALID_VEL_NED_BIT); - gps.pacc = XSENS_DATA_RAWGPS_hacc(xsens_msg_buf, offset) / 100; - gps.sacc = XSENS_DATA_RAWGPS_sacc(xsens_msg_buf, offset) / 100; - gps.pdop = 5; // FIXME Not output by XSens - - gps_xsens_publish(); -#endif - offset += XSENS_DATA_RAWGPS_LENGTH; - } - //} else { - if (XSENS_MASK_Temp(xsens_output_mode)) { - offset += XSENS_DATA_Temp_LENGTH; - } - if (XSENS_MASK_Calibrated(xsens_output_mode)) { - uint8_t l = 0; - if (!XSENS_MASK_AccOut(xsens_output_settings)) { - ins_ax = XSENS_DATA_Calibrated_accX(xsens_msg_buf, offset); - ins_ay = XSENS_DATA_Calibrated_accY(xsens_msg_buf, offset); - ins_az = XSENS_DATA_Calibrated_accZ(xsens_msg_buf, offset); -#if USE_IMU - imu_xsens.accel_available = TRUE; -#endif - l++; - } - if (!XSENS_MASK_GyrOut(xsens_output_settings)) { - ins_p = XSENS_DATA_Calibrated_gyrX(xsens_msg_buf, offset); - ins_q = XSENS_DATA_Calibrated_gyrY(xsens_msg_buf, offset); - ins_r = XSENS_DATA_Calibrated_gyrZ(xsens_msg_buf, offset); -#if USE_IMU - imu_xsens.gyro_available = TRUE; -#endif - l++; - } - if (!XSENS_MASK_MagOut(xsens_output_settings)) { - ins_mx = XSENS_DATA_Calibrated_magX(xsens_msg_buf, offset); - ins_my = XSENS_DATA_Calibrated_magY(xsens_msg_buf, offset); - ins_mz = XSENS_DATA_Calibrated_magZ(xsens_msg_buf, offset); -#if USE_IMU - imu_xsens.mag_available = TRUE; -#endif - l++; - } - offset += l * XSENS_DATA_Calibrated_LENGTH / 3; - } - if (XSENS_MASK_Orientation(xsens_output_mode)) { - if (XSENS_MASK_OrientationMode(xsens_output_settings) == 0x00) { - float q0 = XSENS_DATA_Quaternion_q0(xsens_msg_buf, offset); - float q1 = XSENS_DATA_Quaternion_q1(xsens_msg_buf, offset); - float q2 = XSENS_DATA_Quaternion_q2(xsens_msg_buf, offset); - float q3 = XSENS_DATA_Quaternion_q3(xsens_msg_buf, offset); - float dcm00 = 1.0 - 2 * (q2 * q2 + q3 * q3); - float dcm01 = 2 * (q1 * q2 + q0 * q3); - float dcm02 = 2 * (q1 * q3 - q0 * q2); - float dcm12 = 2 * (q2 * q3 + q0 * q1); - float dcm22 = 1.0 - 2 * (q1 * q1 + q2 * q2); - ins_phi = atan2(dcm12, dcm22); - ins_theta = -asin(dcm02); - ins_psi = atan2(dcm01, dcm00); - offset += XSENS_DATA_Quaternion_LENGTH; - } - if (XSENS_MASK_OrientationMode(xsens_output_settings) == 0x01) { - ins_phi = XSENS_DATA_Euler_roll(xsens_msg_buf, offset) * M_PI / 180; - ins_theta = XSENS_DATA_Euler_pitch(xsens_msg_buf, offset) * M_PI / 180; - ins_psi = XSENS_DATA_Euler_yaw(xsens_msg_buf, offset) * M_PI / 180; - offset += XSENS_DATA_Euler_LENGTH; - } - if (XSENS_MASK_OrientationMode(xsens_output_settings) == 0x10) { - offset += XSENS_DATA_Matrix_LENGTH; - } - new_ins_attitude = 1; - } - if (XSENS_MASK_Auxiliary(xsens_output_mode)) { - uint8_t l = 0; - if (!XSENS_MASK_Aux1Out(xsens_output_settings)) { - l++; - } - if (!XSENS_MASK_Aux2Out(xsens_output_settings)) { - l++; - } - offset += l * XSENS_DATA_Auxiliary_LENGTH / 2; - } - if (XSENS_MASK_Position(xsens_output_mode)) { -#if (! USE_GPS_XSENS_RAW_DATA) && USE_GPS_XSENS - lla_f.lat = RadOfDeg(XSENS_DATA_Position_lat(xsens_msg_buf, offset)); - lla_f.lon = RadOfDeg(XSENS_DATA_Position_lon(xsens_msg_buf, offset)); - gps.lla_pos.lat = (int32_t)(DegOfRad(lla_f.lat) * 1e7); - gps.lla_pos.lon = (int32_t)(DegOfRad(lla_f.lon) * 1e7); - SetBit(gps.valid_fields, GPS_VALID_POS_LLA_BIT); - gps.utm_pos.zone = (DegOfRad(lla_f.lon) + 180) / 6 + 1; - /* convert to utm */ - utm_of_lla_f(&utm_f, &lla_f); - /* copy results of utm conversion */ - gps.utm_pos.east = utm_f.east * 100; - gps.utm_pos.north = utm_f.north * 100; - SetBit(gps.valid_fields, GPS_VALID_POS_UTM_BIT); - ins_x = utm_f.east; - ins_y = utm_f.north; - ins_z = XSENS_DATA_Position_alt(xsens_msg_buf, offset); //TODO is this hms or above ellipsoid? - gps.hmsl = ins_z * 1000; - SetBit(gps.valid_fields, GPS_VALID_HMSL_BIT); - // what about gps.lla_pos.alt and gps.utm_pos.alt ? - - gps_xsens_publish(); -#endif - offset += XSENS_DATA_Position_LENGTH; - } - if (XSENS_MASK_Velocity(xsens_output_mode)) { -#if (! USE_GPS_XSENS_RAW_DATA) && USE_GPS_XSENS - ins_vx = XSENS_DATA_Velocity_vx(xsens_msg_buf, offset); - ins_vy = XSENS_DATA_Velocity_vy(xsens_msg_buf, offset); - ins_vz = XSENS_DATA_Velocity_vz(xsens_msg_buf, offset); -#endif - offset += XSENS_DATA_Velocity_LENGTH; - } - if (XSENS_MASK_Status(xsens_output_mode)) { - xsens_msg_status = XSENS_DATA_Status_status(xsens_msg_buf, offset); -#if USE_GPS_XSENS - if (bit_is_set(xsens_msg_status, 2)) { gps.fix = GPS_FIX_3D; } // gps fix - else if (bit_is_set(xsens_msg_status, 1)) { gps.fix = 0x01; } // efk valid - else { gps.fix = GPS_FIX_NONE; } -#ifdef GPS_LED - if (gps.fix == GPS_FIX_3D) { - LED_ON(GPS_LED); - } else { - LED_TOGGLE(GPS_LED); - } -#endif // GPS_LED -#endif // USE_GPS_XSENS - offset += XSENS_DATA_Status_LENGTH; - } - if (XSENS_MASK_TimeStamp(xsens_output_settings)) { - xsens_time_stamp = XSENS_DATA_TimeStamp_ts(xsens_msg_buf, offset); -#if USE_GPS_XSENS - gps.tow = xsens_time_stamp; -#endif - offset += XSENS_DATA_TimeStamp_LENGTH; - } - if (XSENS_MASK_UTC(xsens_output_settings)) { - xsens_time.hour = XSENS_DATA_UTC_hour(xsens_msg_buf, offset); - xsens_time.min = XSENS_DATA_UTC_min(xsens_msg_buf, offset); - xsens_time.sec = XSENS_DATA_UTC_sec(xsens_msg_buf, offset); - xsens_time.nanosec = XSENS_DATA_UTC_nanosec(xsens_msg_buf, offset); - xsens_time.year = XSENS_DATA_UTC_year(xsens_msg_buf, offset); - xsens_time.month = XSENS_DATA_UTC_month(xsens_msg_buf, offset); - xsens_time.day = XSENS_DATA_UTC_day(xsens_msg_buf, offset); - - offset += XSENS_DATA_UTC_LENGTH; - } - //} - } - -} - -void parse_ins_buffer(uint8_t c) -{ - ck += c; - switch (xsens_status) { - case UNINIT: - if (c != XSENS_START) { - goto error; - } - xsens_status++; - ck = 0; - break; - case GOT_START: - if (c != XSENS_BID) { - goto error; - } - xsens_status++; - break; - case GOT_BID: - xsens_id = c; - xsens_status++; - break; - case GOT_MID: - xsens_len = c; - if (xsens_len > XSENS_MAX_PAYLOAD) { - goto error; - } - xsens_msg_idx = 0; - xsens_status++; - break; - case GOT_LEN: - xsens_msg_buf[xsens_msg_idx] = c; - xsens_msg_idx++; - if (xsens_msg_idx >= xsens_len) { - xsens_status++; - } - break; - case GOT_DATA: - if (ck != 0) { - goto error; - } - ins_msg_received = TRUE; - goto restart; - break; - default: - break; - } - return; -error: -restart: - xsens_status = UNINIT; - return; -} - #ifdef USE_GPS_XSENS /* * register callbacks & structs diff --git a/sw/airborne/modules/ins/ins_xsens.h b/sw/airborne/modules/ins/ins_xsens.h index 2b7bf22a9d..9e55c00136 100644 --- a/sw/airborne/modules/ins/ins_xsens.h +++ b/sw/airborne/modules/ins/ins_xsens.h @@ -21,7 +21,8 @@ */ /** - * \brief Library for the XSENS AHRS + * @file modules/ins/ins_xsens.h + * Xsens as a full INS solution */ #ifndef INS_XSENS_H @@ -29,54 +30,22 @@ #include "std.h" -#include "ins_module.h" +// hack to not use this in sim/nps +#ifndef SITL +#include "xsens.h" -struct XsensTime { - int8_t hour; - int8_t min; - int8_t sec; - int32_t nanosec; - int16_t year; - int8_t month; - int8_t day; -}; - -extern struct XsensTime xsens_time; - -extern uint8_t xsens_msg_status; -extern uint16_t xsens_time_stamp; - -extern void xsens_periodic(void); - -/* To use Xsens to just provide IMU measurements - * for use with an external AHRS algorithm - */ -#if USE_IMU -#include "subsystems/imu.h" -#include "subsystems/abi.h" - -struct ImuXsens { - bool_t gyro_available; - bool_t accel_available; - bool_t mag_available; -}; -extern struct ImuXsens imu_xsens; - -#define ImuEvent() {} -#endif /* USE_IMU */ - - -/* use Xsens as a full INS solution */ -#if USE_INS_MODULE -#define InsEvent() { \ - ins_event_check_and_handle(handle_ins_msg); \ - } -#define DefaultInsImpl ins_xsens -#define InsPeriodic xsens_periodic -extern void ins_xsens_init(void); -extern void ins_xsens_register(void); +#ifdef AHRS_TRIGGERED_ATTITUDE_LOOP +extern volatile uint8_t new_ins_attitude; #endif +extern float ins_pitch_neutral; +extern float ins_roll_neutral; + +#define DefaultInsImpl ins_xsens + +extern void ins_xsens_init(void); +extern void ins_xsens_register(void); +extern void ins_xsens_event(void); #if USE_GPS_XSENS #ifndef PRIMARY_GPS @@ -86,4 +55,11 @@ extern void gps_xsens_init(void); extern void gps_xsens_register(void); #endif +#else // SITL + +static inline void xsens_periodic(void) {} +static inline void ins_xsens_event(void) {} + +#endif + #endif diff --git a/sw/airborne/modules/ins/ins_xsens700.c b/sw/airborne/modules/ins/ins_xsens700.c index a9a180616b..1ead510db0 100644 --- a/sw/airborne/modules/ins/ins_xsens700.c +++ b/sw/airborne/modules/ins/ins_xsens700.c @@ -22,15 +22,13 @@ /** * @file modules/ins/ins_xsens700.c - * Parser for the Xsens protocol. + * Xsens700 as a full INS solution */ -#include "ins_module.h" -#include "ins_xsens.h" +#include "ins_xsens700.h" +#include "xsens_common.h" #include "subsystems/ins.h" -#include - #include "generated/airframe.h" #include "mcu_periph/sys_time.h" @@ -48,148 +46,6 @@ #include "subsystems/navigation/common_nav.h" /* needed for nav_utm_zone0 */ #endif -// positions -INS_FORMAT ins_x; -INS_FORMAT ins_y; -INS_FORMAT ins_z; - -// velocities -INS_FORMAT ins_vx; -INS_FORMAT ins_vy; -INS_FORMAT ins_vz; - -// body angles -INS_FORMAT ins_phi; -INS_FORMAT ins_theta; -INS_FORMAT ins_psi; - -// angle rates -INS_FORMAT ins_p; -INS_FORMAT ins_q; -INS_FORMAT ins_r; - -// accelerations -INS_FORMAT ins_ax; -INS_FORMAT ins_ay; -INS_FORMAT ins_az; - -// magnetic -INS_FORMAT ins_mx; -INS_FORMAT ins_my; -INS_FORMAT ins_mz; - -#if USE_INS_MODULE -float ins_pitch_neutral; -float ins_roll_neutral; -#endif - - -////////////////////////////////////////////////////////////////////////////////////////// -// -// XSens Specific -// - -volatile uint8_t ins_msg_received; - -#define XsensInitCheksum() { send_ck = 0; } -#define XsensUpdateChecksum(c) { send_ck += c; } - -#define XsensSend1(c) { uint8_t i8=c; InsUartSend1(i8); XsensUpdateChecksum(i8); } -#define XsensSend1ByAddr(x) { XsensSend1(*x); } -#define XsensSend2ByAddr(x) { XsensSend1(*(x+1)); XsensSend1(*x); } -#define XsensSend4ByAddr(x) { XsensSend1(*(x+3)); XsensSend1(*(x+2)); XsensSend1(*(x+1)); XsensSend1(*x); } - -#define XsensHeader(msg_id, len) { \ - InsUartSend1(XSENS_START); \ - XsensInitCheksum(); \ - XsensSend1(XSENS_BID); \ - XsensSend1(msg_id); \ - XsensSend1(len); \ - } -#define XsensTrailer() { uint8_t i8=0x100-send_ck; InsUartSend1(i8); } - -/** Includes macros generated from xsens_MTi-G.xml */ -#include "xsens_protocol.h" - - -#define XSENS_MAX_PAYLOAD 254 -uint8_t xsens_msg_buf[XSENS_MAX_PAYLOAD]; - - -#define UNINIT 0 -#define GOT_START 1 -#define GOT_BID 2 -#define GOT_MID 3 -#define GOT_LEN 4 -#define GOT_DATA 5 -#define GOT_CHECKSUM 6 - -// FIXME Debugging Only -#include "mcu_periph/uart.h" -#include "pprzlink/messages.h" -#include "subsystems/datalink/downlink.h" - - -uint8_t xsens_errorcode; -uint32_t xsens_msg_statusword; -uint16_t xsens_time_stamp; -uint16_t xsens_output_mode; -uint32_t xsens_output_settings; -float xsens_declination = 0; -float xsens_gps_arm_x = 0; -float xsens_gps_arm_y = 0; -float xsens_gps_arm_z = 0; - - -int8_t xsens_hour; -int8_t xsens_min; -int8_t xsens_sec; -int32_t xsens_nanosec; -int16_t xsens_year; -int8_t xsens_month; -int8_t xsens_day; - -static uint8_t xsens_id; -static uint8_t xsens_status; -static uint8_t xsens_len; -static uint8_t xsens_msg_idx; -static uint8_t ck; -uint8_t send_ck; - -struct LlaCoor_f lla_f; -struct UtmCoor_f utm_f; - -volatile int xsens_configured = 0; - -void xsens_init(void); - -void xsens_init(void) -{ - - xsens_status = UNINIT; - xsens_configured = 30; - - xsens_msg_statusword = 0; - xsens_time_stamp = 0; - -} - -#if USE_INS_MODULE -void ins_xsens_update_gps(struct GpsState *gps_s); - -void ins_xsens_init(void) -{ - struct UtmCoor_f utm0 = { nav_utm_north0, nav_utm_east0, 0., nav_utm_zone0 }; - stateSetLocalUtmOrigin_f(&utm0); - stateSetPositionUtm_f(&utm0); - - ins_pitch_neutral = INS_PITCH_NEUTRAL_DEFAULT; - ins_roll_neutral = INS_ROLL_NEUTRAL_DEFAULT; - - xsens_init(); -} - -#include "subsystems/abi.h" /** ABI binding for gps data. * Used for GPS ABI messages. */ @@ -198,20 +54,47 @@ void ins_xsens_init(void) #endif PRINT_CONFIG_VAR(INS_XSENS700_GPS_ID) static abi_event gps_ev; + +float ins_pitch_neutral; +float ins_roll_neutral; + +static void handle_ins_msg(void); +static void update_state_interface(void); static void gps_cb(uint8_t sender_id __attribute__((unused)), uint32_t stamp __attribute__((unused)), - struct GpsState *gps_s) -{ - ins_xsens_update_gps(gps_s); -} + struct GpsState *gps_s); -void ins_xsens_register(void) +void ins_xsens700_register(void) { - ins_register_impl(ins_xsens_init); + ins_register_impl(ins_xsens700_init); AbiBindMsgGPS(INS_XSENS700_GPS_ID, &gps_ev, gps_cb); } -void ins_xsens_update_gps(struct GpsState *gps_s) +void ins_xsens700_init(void) +{ + xsens700_init(); + + ins_pitch_neutral = INS_PITCH_NEUTRAL_DEFAULT; + ins_roll_neutral = INS_ROLL_NEUTRAL_DEFAULT; + + struct UtmCoor_f utm0 = { nav_utm_north0, nav_utm_east0, 0., nav_utm_zone0 }; + stateSetLocalUtmOrigin_f(&utm0); + stateSetPositionUtm_f(&utm0); +} + +void ins_xsens700_event(void) +{ + xsens_event(); + if (xsens700.msg_received) { + parse_xsens700_msg(); + handle_ins_msg(); + xsens700.msg_received = false; + } +} + +static void gps_cb(uint8_t sender_id __attribute__((unused)), + uint32_t stamp __attribute__((unused)), + struct GpsState *gps_s) { struct UtmCoor_f utm = utm_float_from_gps(gps_s, nav_utm_zone0); utm.alt = gps_s->hmsl / 1000.; @@ -227,409 +110,97 @@ void ins_xsens_update_gps(struct GpsState *gps_s) // set velocity stateSetSpeedNed_f(&ned_vel); } -#endif + #if USE_GPS_XSENS -void gps_xsens_init(void) +void gps_xsens700_init(void) { - gps.nb_channels = 0; + xsens700.gps.nb_channels = 0; } -static void gps_xsens_publish(void) +static void gps_xsens700_publish(void) { // publish gps data uint32_t now_ts = get_sys_time_usec(); - gps.last_msg_ticks = sys_time.nb_sec_rem; - gps.last_msg_time = sys_time.nb_sec; - if (gps.fix == GPS_FIX_3D) { - gps.last_3dfix_ticks = sys_time.nb_sec_rem; - gps.last_3dfix_time = sys_time.nb_sec; + xsens700.gps.last_msg_ticks = sys_time.nb_sec_rem; + xsens700.gps.last_msg_time = sys_time.nb_sec; + if (xsens700.gps.fix == GPS_FIX_3D) { + xsens700.gps.last_3dfix_ticks = sys_time.nb_sec_rem; + xsens700.gps.last_3dfix_time = sys_time.nb_sec; } - AbiSendMsgGPS(GPS_XSENS_ID, now_ts, &gps); + AbiSendMsgGPS(GPS_XSENS_ID, now_ts, &xsens700.gps); } #endif -static void xsens_ask_message_rate(uint8_t c1, uint8_t c2, uint8_t freq) -{ - uint8_t foo = 0; - XsensSend1ByAddr(&c1); - XsensSend1ByAddr(&c2); - XsensSend1ByAddr(&foo); - XsensSend1ByAddr(&freq); -} -void xsens_periodic(void) -{ - if (xsens_configured > 0) { - switch (xsens_configured) { - case 25: - /* send mode and settings to MT */ - XSENS_GoToConfig(); - //XSENS_SetOutputMode(xsens_output_mode); - //XSENS_SetOutputSettings(xsens_output_settings); - break; - case 18: - // Give pulses on SyncOut - //XSENS_SetSyncOutSettings(0,0x0002); - break; - case 17: - - XsensHeader(XSENS_SetOutputConfiguration_ID, 44); - xsens_ask_message_rate(0x10, 0x10, 4); // UTC - xsens_ask_message_rate(0x20, 0x30, 100); // Attitude Euler - xsens_ask_message_rate(0x40, 0x10, 100); // Delta-V - xsens_ask_message_rate(0x80, 0x20, 100); // Rate of turn - xsens_ask_message_rate(0xE0, 0x20, 50); // Status - xsens_ask_message_rate(0x30, 0x10, 50); // Baro Pressure - xsens_ask_message_rate(0x88, 0x40, 1); // NavSol - xsens_ask_message_rate(0x88, 0xA0, 1); // SV Info - xsens_ask_message_rate(0x50, 0x20, 50); // GPS Altitude Ellipsiod - xsens_ask_message_rate(0x50, 0x40, 50); // GPS Position - xsens_ask_message_rate(0xD0, 0x10, 50); // GPS Speed - XsensTrailer(); - break; - case 2: - //XSENS_ReqLeverArmGps(); - break; - - case 6: - //XSENS_ReqMagneticDeclination(); - break; - - case 13: - //#ifdef AHRS_H_X - //#pragma message "Sending XSens Magnetic Declination." - //xsens_declination = atan2(AHRS_H_Y, AHRS_H_X); - //XSENS_SetMagneticDeclination(xsens_declination); - //#endif - break; - case 12: -#ifdef GPS_IMU_LEVER_ARM_X -#pragma message "Sending XSens GPS Arm." - XSENS_SetLeverArmGps(GPS_IMU_LEVER_ARM_X, GPS_IMU_LEVER_ARM_Y, GPS_IMU_LEVER_ARM_Z); -#endif - break; - case 10: { - uint8_t baud = 1; - XSENS_SetBaudrate(baud); - } - break; - - case 1: - XSENS_GoToMeasurment(); - break; - default: - break; - } - xsens_configured--; - return; - } - - //RunOnceEvery(100,XSENS_ReqGPSStatus()); -} - -#if USE_INS_MODULE -#include "state.h" - -static inline void update_state_interface(void) +static void update_state_interface(void) { // Send to Estimator (Control) -#if XSENS_BACKWARDS +#ifdef XSENS_BACKWARDS struct FloatEulers att = { - ins_phi + ins_roll_neutral, - -ins_theta + ins_pitch_neutral, - -ins_psi + RadOfDeg(180) + xsens700.euler.phi + ins_roll_neutral, + -xsens700.euler.theta + ins_pitch_neutral, + -xsens700.euler.psi + RadOfDeg(180) }; - struct FloatRates rates = { - ins_p, - -ins_q, - -ins_r + struct FloatEulerstRates rates = { + xsens700.gyro.p, + -xsens700.gyro.q, + -xsens700.gyro.r }; #else struct FloatEulers att = { - -ins_phi + ins_roll_neutral, - ins_theta + ins_pitch_neutral, - -ins_psi + -xsens700.euler.phi + ins_roll_neutral, + xsens700.euler.theta + ins_pitch_neutral, + -xsens700.euler.psi }; - struct FloatRates rates = { - -ins_p, - ins_q, - -ins_r + struct FloatRates rates = { + -xsens700.gyro.p, + xsens700.gyro.q, + -xsens700.gyro.r }; #endif stateSetNedToBodyEulers_f(&att); stateSetBodyRates_f(&rates); } -#endif /* USE_INS_MODULE */ + void handle_ins_msg(void) { -#if USE_INS_MODULE update_state_interface(); -#endif + + if (xsens700.new_attitude) { + new_ins_attitude = true; + xsens700.new_attitude = false; + } #if USE_GPS_XSENS - // Horizontal speed - float fspeed = sqrt(ins_vx * ins_vx + ins_vy * ins_vy); - if (gps.fix != GPS_FIX_3D) { - fspeed = 0; - } - gps.gspeed = fspeed * 100.; - gps.speed_3d = (uint16_t)(sqrt(ins_vx * ins_vx + ins_vy * ins_vy + ins_vz * ins_vz) * 100); + if (xsens700.gps_available) { + // Horizontal speed + float fspeed = FLOAT_VECT2_NORM(xsens700.vel); + if (xsens700.gps.fix != GPS_FIX_3D) { + fspeed = 0; + } + xsens700.gps.gspeed = fspeed * 100.; + xsens700.gps.speed_3d = float_vect3_norm(&xsens700.vel) * 100; - float fcourse = atan2f((float)ins_vy, (float)ins_vx); - gps.course = fcourse * 1e7; + float fcourse = atan2f(xsens700.vel.y, xsens700.vel.x); + xsens700.gps.course = fcourse * 1e7; + SetBit(xsens700.gps.valid_fields, GPS_VALID_COURSE_BIT); + + gps_xsens700_publish(); + xsens700.gps_available = false; + } #endif // USE_GPS_XSENS } -void parse_ins_msg(void) -{ - uint8_t offset = 0; - if (xsens_id == XSENS_ReqLeverArmGpsAck_ID) { - xsens_gps_arm_x = XSENS_ReqLeverArmGpsAck_x(xsens_msg_buf); - xsens_gps_arm_y = XSENS_ReqLeverArmGpsAck_y(xsens_msg_buf); - xsens_gps_arm_z = XSENS_ReqLeverArmGpsAck_z(xsens_msg_buf); - - DOWNLINK_SEND_IMU_MAG_SETTINGS(DefaultChannel, DefaultDevice, &xsens_declination, &xsens_declination, &xsens_gps_arm_x, - &xsens_gps_arm_y, &xsens_gps_arm_z); - } else if (xsens_id == XSENS_Error_ID) { - xsens_errorcode = XSENS_Error_errorcode(xsens_msg_buf); - } else if (xsens_id == XSENS_MTData2_ID) { - for (offset = 0; offset < xsens_len;) { - uint8_t code1 = xsens_msg_buf[offset]; - uint8_t code2 = xsens_msg_buf[offset + 1]; - int subpacklen = (int)xsens_msg_buf[offset + 2]; - offset += 3; - - - if (code1 == 0x10) { - if (code2 == 0x10) { - // UTC - } else if (code2 == 0x20) { - // Packet Counter - } - if (code2 == 0x30) { - // ITOW - } - } else if (code1 == 0x20) { - if (code2 == 0x30) { - // Attitude Euler - ins_phi = XSENS_DATA_Euler_roll(xsens_msg_buf, offset) * M_PI / 180; - ins_theta = XSENS_DATA_Euler_pitch(xsens_msg_buf, offset) * M_PI / 180; - ins_psi = XSENS_DATA_Euler_yaw(xsens_msg_buf, offset) * M_PI / 180; - - new_ins_attitude = 1; - - } - } else if (code1 == 0x40) { - if (code2 == 0x10) { - // Delta-V - ins_ax = XSENS_DATA_Acceleration_x(xsens_msg_buf, offset) * 100.0f; - ins_ay = XSENS_DATA_Acceleration_y(xsens_msg_buf, offset) * 100.0f; - ins_az = XSENS_DATA_Acceleration_z(xsens_msg_buf, offset) * 100.0f; - } - } else if (code1 == 0x80) { - if (code2 == 0x20) { - // Rate Of Turn - ins_p = XSENS_DATA_RateOfTurn_x(xsens_msg_buf, offset) * M_PI / 180; - ins_q = XSENS_DATA_RateOfTurn_y(xsens_msg_buf, offset) * M_PI / 180; - ins_r = XSENS_DATA_RateOfTurn_z(xsens_msg_buf, offset) * M_PI / 180; - } - } else if (code1 == 0x30) { - if (code2 == 0x10) { - // Baro Pressure - } - } else if (code1 == 0xE0) { - if (code2 == 0x20) { - // Status Word - xsens_msg_statusword = XSENS_DATA_StatusWord_status(xsens_msg_buf, offset); - //gps.tow = xsens_msg_statusword; -#if USE_GPS_XSENS - if (bit_is_set(xsens_msg_statusword, 2) && bit_is_set(xsens_msg_statusword, 1)) { - if (bit_is_set(xsens_msg_statusword, 23) && bit_is_set(xsens_msg_statusword, 24)) { - gps.fix = GPS_FIX_3D; - } else { - gps.fix = GPS_FIX_2D; - } - } else { gps.fix = GPS_FIX_NONE; } -#endif - } - } else if (code1 == 0x88) { - if (code2 == 0x40) { - gps.week = XSENS_DATA_GpsSol_week(xsens_msg_buf, offset); - gps.num_sv = XSENS_DATA_GpsSol_numSv(xsens_msg_buf, offset); - gps.pacc = XSENS_DATA_GpsSol_pAcc(xsens_msg_buf, offset); - gps.sacc = XSENS_DATA_GpsSol_sAcc(xsens_msg_buf, offset); - gps.pdop = XSENS_DATA_GpsSol_pDop(xsens_msg_buf, offset); - } else if (code2 == 0xA0) { - // SVINFO - gps.tow = XSENS_XDI_GpsSvInfo_iTOW(xsens_msg_buf + offset); - -#if USE_GPS_XSENS - gps.nb_channels = XSENS_XDI_GpsSvInfo_nch(xsens_msg_buf + offset); - - gps.last_3dfix_ticks = sys_time.nb_sec_rem; - gps.last_3dfix_time = sys_time.nb_sec; - - uint8_t i; - // Do not write outside buffer - for (i = 0; i < Min(gps.nb_channels, GPS_NB_CHANNELS); i++) { - uint8_t ch = XSENS_XDI_GpsSvInfo_chn(xsens_msg_buf + offset, i); - if (ch > gps.nb_channels) { continue; } - gps.svinfos[ch].svid = XSENS_XDI_GpsSvInfo_svid(xsens_msg_buf + offset, i); - gps.svinfos[ch].flags = XSENS_XDI_GpsSvInfo_bitmask(xsens_msg_buf + offset, i); - gps.svinfos[ch].qi = XSENS_XDI_GpsSvInfo_qi(xsens_msg_buf + offset, i); - gps.svinfos[ch].cno = XSENS_XDI_GpsSvInfo_cnr(xsens_msg_buf + offset, i); - } -#endif - } - } else if (code1 == 0x50) { - if (code2 == 0x10) { - //gps.hmsl = XSENS_DATA_Altitude_h(xsens_msg_buf,offset)* 1000.0f; - } else if (code2 == 0x20) { - // Altitude Elipsoid - gps.utm_pos.alt = XSENS_DATA_Altitude_h(xsens_msg_buf, offset) * 1000.0f; - - // Compute geoid (MSL) height - float geoid_h = wgs84_ellipsoid_to_geoid(lla_f.lat, lla_f.lon); - gps.hmsl = gps.utm_pos.alt - (geoid_h * 1000.0f); - SetBit(gps.valid_fields, GPS_VALID_HMSL_BIT); - - //gps.tow = geoid_h * 1000.0f; //gps.utm_pos.alt; - } else if (code2 == 0x40) { - // LatLong -#ifdef GPS_LED - LED_TOGGLE(GPS_LED); -#endif - gps.last_3dfix_ticks = sys_time.nb_sec_rem; - gps.last_3dfix_time = sys_time.nb_sec; - gps.week = 0; // FIXME - lla_f.lat = RadOfDeg(XSENS_DATA_LatLon_lat(xsens_msg_buf, offset)); - lla_f.lon = RadOfDeg(XSENS_DATA_LatLon_lon(xsens_msg_buf, offset)); - - // Set the real UTM zone - gps.utm_pos.zone = (DegOfRad(lla_f.lon) + 180) / 6 + 1; - - utm_f.zone = nav_utm_zone0; - // convert to utm - utm_of_lla_f(&utm_f, &lla_f); - // copy results of utm conversion - gps.utm_pos.east = utm_f.east * 100; - gps.utm_pos.north = utm_f.north * 100; - SetBit(gps.valid_fields, GPS_VALID_POS_UTM_BIT); - - gps_xsens_publish(); - } - } else if (code1 == 0xD0) { - if (code2 == 0x10) { - // Velocity - ins_vx = ((INS_FORMAT)XSENS_DATA_VelocityXYZ_x(xsens_msg_buf, offset)); - ins_vy = ((INS_FORMAT)XSENS_DATA_VelocityXYZ_y(xsens_msg_buf, offset)); - ins_vz = ((INS_FORMAT)XSENS_DATA_VelocityXYZ_z(xsens_msg_buf, offset)); - gps.ned_vel.x = ins_vx; - gps.ned_vel.y = ins_vy; - gps.ned_vel.z = ins_vx; - SetBit(gps.valid_fields, GPS_VALID_VEL_NED_BIT); - } - } - - if (subpacklen < 0) { - subpacklen = 0; - } - offset += subpacklen; - } - - - /* - - gps.pacc = XSENS_DATA_RAWGPS_hacc(xsens_msg_buf,offset) / 100; - gps.sacc = XSENS_DATA_RAWGPS_sacc(xsens_msg_buf,offset) / 100; - gps.pdop = 5; // FIXME Not output by XSens - */ - - /* - */ - - - /* - ins_mx = XSENS_DATA_Calibrated_magX(xsens_msg_buf,offset); - ins_my = XSENS_DATA_Calibrated_magY(xsens_msg_buf,offset); - ins_mz = XSENS_DATA_Calibrated_magZ(xsens_msg_buf,offset); - */ - - - /* - xsens_time_stamp = XSENS_DATA_TimeStamp_ts(xsens_msg_buf,offset); - #if USE_GPS_XSENS - gps.tow = xsens_time_stamp; - #endif - */ - - } - -} - - -void parse_ins_buffer(uint8_t c) -{ - ck += c; - switch (xsens_status) { - case UNINIT: - if (c != XSENS_START) { - goto error; - } - xsens_status++; - ck = 0; - break; - case GOT_START: - if (c != XSENS_BID) { - goto error; - } - xsens_status++; - break; - case GOT_BID: - xsens_id = c; - xsens_status++; - break; - case GOT_MID: - xsens_len = c; - if (xsens_len > XSENS_MAX_PAYLOAD) { - goto error; - } - xsens_msg_idx = 0; - xsens_status++; - break; - case GOT_LEN: - xsens_msg_buf[xsens_msg_idx] = c; - xsens_msg_idx++; - if (xsens_msg_idx >= xsens_len) { - xsens_status++; - } - break; - case GOT_DATA: - if (ck != 0) { - goto error; - } - ins_msg_received = TRUE; - goto restart; - break; - default: - break; - } - return; -error: -restart: - xsens_status = UNINIT; - return; -} #ifdef USE_GPS_XSENS /* * register callbacks & structs */ -void gps_xsens_register(void) +void gps_xsens700_register(void) { - gps_register_impl(gps_xsens_init, NULL, GPS_XSENS_ID); + gps_register_impl(gps_xsens700_init, NULL, GPS_XSENS_ID); } #endif diff --git a/sw/airborne/modules/ins/ins_xsens700.h b/sw/airborne/modules/ins/ins_xsens700.h new file mode 100644 index 0000000000..75bd5fc380 --- /dev/null +++ b/sw/airborne/modules/ins/ins_xsens700.h @@ -0,0 +1,56 @@ +/* + * Copyright (C) 2010 ENAC + * + * This file is part of paparazzi. + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, write to + * the Free Software Foundation, 59 Temple Place - Suite 330, + * Boston, MA 02111-1307, USA. + * + */ + +/** + * @file modules/ins/ins_xsens700.h + * Xsens700 as a full INS solution + */ + +#ifndef INS_XSENS700_H +#define INS_XSENS700_H + +#include "std.h" + +#include "xsens700.h" + +#ifdef AHRS_TRIGGERED_ATTITUDE_LOOP +extern volatile uint8_t new_ins_attitude; +#endif + +extern float ins_pitch_neutral; +extern float ins_roll_neutral; + +#define DefaultInsImpl ins_xsens700 + +extern void ins_xsens700_init(void); +extern void ins_xsens700_register(void); +extern void ins_xsens700_event(void); + +#if USE_GPS_XSENS +#ifndef PRIMARY_GPS +#define PRIMARY_GPS gps_xsens700 +#endif +extern void gps_xsens700_init(void); +extern void gps_xsens700_register(void); +#endif + +#endif diff --git a/sw/airborne/modules/ins/xsens.c b/sw/airborne/modules/ins/xsens.c new file mode 100644 index 0000000000..f0ae21cf52 --- /dev/null +++ b/sw/airborne/modules/ins/xsens.c @@ -0,0 +1,373 @@ +/* + * Copyright (C) 2003 Pascal Brisset, Antoine Drouin + * + * This file is part of paparazzi. + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, write to + * the Free Software Foundation, 59 Temple Place - Suite 330, + * Boston, MA 02111-1307, USA. + */ + +/** @file modules/ins/xsens.c + * Parser for the Xsens protocol. + */ + +#include "xsens.h" +#include "xsens_common.h" + +#include "generated/airframe.h" + +#if USE_GPS_XSENS +#include "math/pprz_geodetic_wgs84.h" +#endif + +// FIXME Debugging Only +#include "mcu_periph/uart.h" +#include "pprzlink/messages.h" +#include "subsystems/datalink/downlink.h" + + +/* output mode : calibrated, orientation, position, velocity, status + * ----------- + * + * bit 0 temp + * bit 1 calibrated + * bit 2 orentation + * bit 3 aux + * + * bit 4 position + * bit 5 velocity + * bit 6-7 Reserved + * + * bit 8-10 Reserved + * bit 11 status + * + * bit 12 GPS PVT+baro + * bit 13 Reserved + * bit 14 Raw + * bit 15 Reserved + */ + +#ifndef XSENS_OUTPUT_MODE +#define XSENS_OUTPUT_MODE 0x1836 +#endif +/* output settings : timestamp, euler, acc, rate, mag, float, no aux, lla, m/s, NED + * ----------- + * + * bit 01 0=none, 1=sample counter, 2=utc, 3=sample+utc + * bit 23 0=quaternion, 1=euler, 2=DCM + * + * bit 4 1=disable acc output + * bit 5 1=disable gyro output + * bit 6 1=disable magneto output + * bit 7 Reserved + * + * bit 89 0=float, 1=fixedpoint12.20, 2=fixedpoint16.32 + * bit 10 1=disable aux analog 1 + * bit 11 1=disable aux analog 2 + * + * bit 12-15 0-only: 14-16 WGS84 + * + * bit 16-19 0-only: 16-18 m/s XYZ + * + * bit 20-23 Reserved + * + * bit 24-27 Reseverd + * + * bit 28-30 Reseverd + * bit 31 0=X-North-Z-Up, 1=North-East-Down + */ +#ifndef XSENS_OUTPUT_SETTINGS +#define XSENS_OUTPUT_SETTINGS 0x80000C05 +#endif + +uint8_t xsens_errorcode; +uint8_t xsens_msg_status; +uint16_t xsens_time_stamp; +uint16_t xsens_output_mode; +uint32_t xsens_output_settings; + + +float xsens_declination = 0; +float xsens_gps_arm_x = 0; +float xsens_gps_arm_y = 0; +float xsens_gps_arm_z = 0; + +volatile int xsens_configured = 0; + +struct Xsens xsens; + +void parse_xsens_buffer(uint8_t c); + +void xsens_init(void) +{ + xsens_status = UNINIT; + xsens_configured = 20; + + xsens_msg_status = 0; + xsens_time_stamp = 0; + xsens_output_mode = XSENS_OUTPUT_MODE; + xsens_output_settings = XSENS_OUTPUT_SETTINGS; +} + +void xsens_periodic(void) +{ + if (xsens_configured > 0) { + switch (xsens_configured) { + case 20: + /* send mode and settings to MT */ + XSENS_GoToConfig(); + XSENS_SetOutputMode(xsens_output_mode); + XSENS_SetOutputSettings(xsens_output_settings); + break; + case 18: + // Give pulses on SyncOut + XSENS_SetSyncOutSettings(0, 0x0002); + break; + case 17: + // 1 pulse every 100 samples + XSENS_SetSyncOutSettings(1, 100); + break; + case 2: + XSENS_ReqLeverArmGps(); + break; + + case 6: + XSENS_ReqMagneticDeclination(); + break; + + case 13: +#ifdef AHRS_H_X +#pragma message "Sending XSens Magnetic Declination." + xsens_declination = atan2(AHRS_H_Y, AHRS_H_X); + XSENS_SetMagneticDeclination(xsens_declination); +#endif + break; + case 12: +#ifdef GPS_IMU_LEVER_ARM_X +#pragma message "Sending XSens GPS Arm." + XSENS_SetLeverArmGps(GPS_IMU_LEVER_ARM_X, GPS_IMU_LEVER_ARM_Y, GPS_IMU_LEVER_ARM_Z); +#endif + break; + case 10: { + uint8_t baud = 1; + XSENS_SetBaudrate(baud); + } + break; + + case 1: + XSENS_GoToMeasurment(); + break; + + default: + break; + } + xsens_configured--; + return; + } + + RunOnceEvery(100, XSENS_ReqGPSStatus()); +} + + +void parse_xsens_msg(void) +{ + uint8_t offset = 0; + if (xsens_id == XSENS_ReqOutputModeAck_ID) { + xsens_output_mode = XSENS_ReqOutputModeAck_mode(xsens_msg_buf); + } else if (xsens_id == XSENS_ReqOutputSettings_ID) { + xsens_output_settings = XSENS_ReqOutputSettingsAck_settings(xsens_msg_buf); + } else if (xsens_id == XSENS_ReqMagneticDeclinationAck_ID) { + xsens_declination = DegOfRad(XSENS_ReqMagneticDeclinationAck_declination(xsens_msg_buf)); + + DOWNLINK_SEND_IMU_MAG_SETTINGS(DefaultChannel, DefaultDevice, &xsens_declination, &xsens_declination, &xsens_gps_arm_x, + &xsens_gps_arm_y, &xsens_gps_arm_z); + } else if (xsens_id == XSENS_ReqLeverArmGpsAck_ID) { + xsens_gps_arm_x = XSENS_ReqLeverArmGpsAck_x(xsens_msg_buf); + xsens_gps_arm_y = XSENS_ReqLeverArmGpsAck_y(xsens_msg_buf); + xsens_gps_arm_z = XSENS_ReqLeverArmGpsAck_z(xsens_msg_buf); + + DOWNLINK_SEND_IMU_MAG_SETTINGS(DefaultChannel, DefaultDevice, &xsens_declination, &xsens_declination, &xsens_gps_arm_x, + &xsens_gps_arm_y, &xsens_gps_arm_z); + } else if (xsens_id == XSENS_Error_ID) { + xsens_errorcode = XSENS_Error_errorcode(xsens_msg_buf); + } +#if USE_GPS_XSENS + else if (xsens_id == XSENS_GPSStatus_ID) { + xsens.gps.nb_channels = XSENS_GPSStatus_nch(xsens_msg_buf); + xsens.gps.num_sv = 0; + + uint8_t i; + // Do not write outside buffer + for (i = 0; i < Min(xsens.gps.nb_channels, GPS_NB_CHANNELS); i++) { + uint8_t ch = XSENS_GPSStatus_chn(xsens_msg_buf, i); + if (ch > xsens.gps.nb_channels) { continue; } + xsens.gps.svinfos[ch].svid = XSENS_GPSStatus_svid(xsens_msg_buf, i); + xsens.gps.svinfos[ch].flags = XSENS_GPSStatus_bitmask(xsens_msg_buf, i); + xsens.gps.svinfos[ch].qi = XSENS_GPSStatus_qi(xsens_msg_buf, i); + xsens.gps.svinfos[ch].cno = XSENS_GPSStatus_cnr(xsens_msg_buf, i); + if (xsens.gps.svinfos[ch].flags > 0) { + xsens.gps.num_sv++; + } + } + } +#endif + else if (xsens_id == XSENS_MTData_ID) { + /* test RAW modes else calibrated modes */ + //if ((XSENS_MASK_RAWInertial(xsens_output_mode)) || (XSENS_MASK_RAWGPS(xsens_output_mode))) { + if (XSENS_MASK_RAWInertial(xsens_output_mode)) { + /* should we write raw data to separate struct? */ + xsens.gyro.p = XSENS_DATA_RAWInertial_gyrX(xsens_msg_buf, offset); + xsens.gyro.q = XSENS_DATA_RAWInertial_gyrY(xsens_msg_buf, offset); + xsens.gyro.r = XSENS_DATA_RAWInertial_gyrZ(xsens_msg_buf, offset); + xsens.gyro_available = TRUE; + offset += XSENS_DATA_RAWInertial_LENGTH; + } + if (XSENS_MASK_RAWGPS(xsens_output_mode)) { +#if USE_GPS_XSENS_RAW_DATA && USE_GPS_XSENS + xsens.gps.week = 0; // FIXME + xsens.gps.tow = XSENS_DATA_RAWGPS_itow(xsens_msg_buf, offset) * 10; + xsens.gps.lla_pos.lat = XSENS_DATA_RAWGPS_lat(xsens_msg_buf, offset); + xsens.gps.lla_pos.lon = XSENS_DATA_RAWGPS_lon(xsens_msg_buf, offset); + xsens.gps.lla_pos.alt = XSENS_DATA_RAWGPS_alt(xsens_msg_buf, offset); + SetBit(xsens.gps.valid_fields, GPS_VALID_POS_LLA_BIT); + + // Compute geoid (MSL) height + float hmsl = wgs84_ellipsoid_to_geoid_i(xsens.gps.lla_pos.lat, xsens.gps.lla_pos.lon); + xsens.gps.hmsl = XSENS_DATA_RAWGPS_alt(xsens_msg_buf, offset) - (hmsl * 1000.0f); + SetBit(gps.valid_fields, GPS_VALID_HMSL_BIT); + + xsens.gps.ned_vel.x = XSENS_DATA_RAWGPS_vel_n(xsens_msg_buf, offset); + xsens.gps.ned_vel.y = XSENS_DATA_RAWGPS_vel_e(xsens_msg_buf, offset); + xsens.gps.ned_vel.z = XSENS_DATA_RAWGPS_vel_d(xsens_msg_buf, offset); + SetBit(gps.valid_fields, GPS_VALID_VEL_NED_BIT); + xsens.gps.pacc = XSENS_DATA_RAWGPS_hacc(xsens_msg_buf, offset) / 100; + xsens.gps.sacc = XSENS_DATA_RAWGPS_sacc(xsens_msg_buf, offset) / 100; + xsens.gps.pdop = 5; // FIXME Not output by XSens + + xsens.gps_available = TRUE; +#endif + offset += XSENS_DATA_RAWGPS_LENGTH; + } + //} else { + if (XSENS_MASK_Temp(xsens_output_mode)) { + offset += XSENS_DATA_Temp_LENGTH; + } + if (XSENS_MASK_Calibrated(xsens_output_mode)) { + uint8_t l = 0; + if (!XSENS_MASK_AccOut(xsens_output_settings)) { + xsens.accel.x = XSENS_DATA_Calibrated_accX(xsens_msg_buf, offset); + xsens.accel.y = XSENS_DATA_Calibrated_accY(xsens_msg_buf, offset); + xsens.accel.z = XSENS_DATA_Calibrated_accZ(xsens_msg_buf, offset); + xsens.accel_available = TRUE; + l++; + } + if (!XSENS_MASK_GyrOut(xsens_output_settings)) { + xsens.gyro.p = XSENS_DATA_Calibrated_gyrX(xsens_msg_buf, offset); + xsens.gyro.q = XSENS_DATA_Calibrated_gyrY(xsens_msg_buf, offset); + xsens.gyro.r = XSENS_DATA_Calibrated_gyrZ(xsens_msg_buf, offset); + xsens.gyro_available = TRUE; + l++; + } + if (!XSENS_MASK_MagOut(xsens_output_settings)) { + xsens.mag.x = XSENS_DATA_Calibrated_magX(xsens_msg_buf, offset); + xsens.mag.y = XSENS_DATA_Calibrated_magY(xsens_msg_buf, offset); + xsens.mag.z = XSENS_DATA_Calibrated_magZ(xsens_msg_buf, offset); + xsens.mag_available = TRUE; + l++; + } + offset += l * XSENS_DATA_Calibrated_LENGTH / 3; + } + if (XSENS_MASK_Orientation(xsens_output_mode)) { + if (XSENS_MASK_OrientationMode(xsens_output_settings) == 0x00) { + xsens.quat.qi = XSENS_DATA_Quaternion_q0(xsens_msg_buf, offset); + xsens.quat.qx = XSENS_DATA_Quaternion_q1(xsens_msg_buf, offset); + xsens.quat.qy = XSENS_DATA_Quaternion_q2(xsens_msg_buf, offset); + xsens.quat.qz = XSENS_DATA_Quaternion_q3(xsens_msg_buf, offset); + //float_eulers_of_quat(&xsens.euler, &xsens.quat); + offset += XSENS_DATA_Quaternion_LENGTH; + } + if (XSENS_MASK_OrientationMode(xsens_output_settings) == 0x01) { + xsens.euler.phi = XSENS_DATA_Euler_roll(xsens_msg_buf, offset) * M_PI / 180; + xsens.euler.theta = XSENS_DATA_Euler_pitch(xsens_msg_buf, offset) * M_PI / 180; + xsens.euler.psi = XSENS_DATA_Euler_yaw(xsens_msg_buf, offset) * M_PI / 180; + offset += XSENS_DATA_Euler_LENGTH; + } + if (XSENS_MASK_OrientationMode(xsens_output_settings) == 0x10) { + offset += XSENS_DATA_Matrix_LENGTH; + } + xsens.new_attitude = TRUE; + } + if (XSENS_MASK_Auxiliary(xsens_output_mode)) { + uint8_t l = 0; + if (!XSENS_MASK_Aux1Out(xsens_output_settings)) { + l++; + } + if (!XSENS_MASK_Aux2Out(xsens_output_settings)) { + l++; + } + offset += l * XSENS_DATA_Auxiliary_LENGTH / 2; + } + if (XSENS_MASK_Position(xsens_output_mode)) { + xsens.lla_f.lat = RadOfDeg(XSENS_DATA_Position_lat(xsens_msg_buf, offset)); + xsens.lla_f.lon = RadOfDeg(XSENS_DATA_Position_lon(xsens_msg_buf, offset)); + xsens.lla_f.alt = XSENS_DATA_Position_alt(xsens_msg_buf, offset); + offset += XSENS_DATA_Position_LENGTH; + +#if (! USE_GPS_XSENS_RAW_DATA) && USE_GPS_XSENS + LLA_BFP_OF_REAL(xsens.gps.lla_pos, xsens.lla_f); + SetBit(gps.valid_fields, GPS_VALID_POS_LLA_BIT); + xsens.gps_available = TRUE; +#endif + } + if (XSENS_MASK_Velocity(xsens_output_mode)) { + xsens.vel.x = XSENS_DATA_Velocity_vx(xsens_msg_buf, offset); + xsens.vel.y = XSENS_DATA_Velocity_vy(xsens_msg_buf, offset); + xsens.vel.z = XSENS_DATA_Velocity_vz(xsens_msg_buf, offset); + offset += XSENS_DATA_Velocity_LENGTH; + } + if (XSENS_MASK_Status(xsens_output_mode)) { + xsens_msg_status = XSENS_DATA_Status_status(xsens_msg_buf, offset); +#if USE_GPS_XSENS + if (bit_is_set(xsens_msg_status, 2)) { xsens.gps.fix = GPS_FIX_3D; } // gps fix + else if (bit_is_set(xsens_msg_status, 1)) { xsens.gps.fix = 0x01; } // efk valid + else { xsens.gps.fix = GPS_FIX_NONE; } +#ifdef GPS_LED + if (xsens.gps.fix == GPS_FIX_3D) { + LED_ON(GPS_LED); + } else { + LED_TOGGLE(GPS_LED); + } +#endif // GPS_LED +#endif // USE_GPS_XSENS + offset += XSENS_DATA_Status_LENGTH; + } + if (XSENS_MASK_TimeStamp(xsens_output_settings)) { + xsens.time_stamp = XSENS_DATA_TimeStamp_ts(xsens_msg_buf, offset); + offset += XSENS_DATA_TimeStamp_LENGTH; + } + if (XSENS_MASK_UTC(xsens_output_settings)) { + xsens.time.hour = XSENS_DATA_UTC_hour(xsens_msg_buf, offset); + xsens.time.min = XSENS_DATA_UTC_min(xsens_msg_buf, offset); + xsens.time.sec = XSENS_DATA_UTC_sec(xsens_msg_buf, offset); + xsens.time.nanosec = XSENS_DATA_UTC_nanosec(xsens_msg_buf, offset); + xsens.time.year = XSENS_DATA_UTC_year(xsens_msg_buf, offset); + xsens.time.month = XSENS_DATA_UTC_month(xsens_msg_buf, offset); + xsens.time.day = XSENS_DATA_UTC_day(xsens_msg_buf, offset); + + offset += XSENS_DATA_UTC_LENGTH; + } + } + +} diff --git a/sw/airborne/modules/ins/xsens.h b/sw/airborne/modules/ins/xsens.h new file mode 100644 index 0000000000..9e7fd48f79 --- /dev/null +++ b/sw/airborne/modules/ins/xsens.h @@ -0,0 +1,82 @@ +/* + * Copyright (C) 2010 ENAC + * + * This file is part of paparazzi. + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, write to + * the Free Software Foundation, 59 Temple Place - Suite 330, + * Boston, MA 02111-1307, USA. + * + */ + +/** @file modules/ins/xsens.h + * Parser for the Xsens protocol. + */ + +#ifndef XSENS_H +#define XSENS_H + +#include "std.h" +#include "math/pprz_algebra_float.h" +#include "math/pprz_geodetic_float.h" +#include "math/pprz_geodetic_int.h" + +#if USE_GPS_XSENS +#include "subsystems/gps.h" +#endif + +struct XsensTime { + int8_t hour; + int8_t min; + int8_t sec; + int32_t nanosec; + int16_t year; + int8_t month; + int8_t day; +}; + +struct Xsens { + struct XsensTime time; + uint16_t time_stamp; + + struct FloatRates gyro; + struct FloatVect3 accel; + struct FloatVect3 mag; + + struct LlaCoor_f lla_f; + struct FloatVect3 vel; ///< NED velocity in m/s + + struct FloatQuat quat; + struct FloatEulers euler; + + volatile bool msg_received; + volatile bool new_attitude; + + bool gyro_available; + bool accel_available; + bool mag_available; + +#if USE_GPS_XSENS + struct GpsState gps; + bool gps_available; +#endif +}; + +extern struct Xsens xsens; + +extern void xsens_init(void); +extern void xsens_periodic(void); +extern void parse_xsens_msg(void); + +#endif /* XSENS_H */ diff --git a/sw/airborne/modules/ins/xsens700.c b/sw/airborne/modules/ins/xsens700.c new file mode 100644 index 0000000000..c9e76ac923 --- /dev/null +++ b/sw/airborne/modules/ins/xsens700.c @@ -0,0 +1,285 @@ +/* + * Copyright (C) 2013 Christophe De Wagter + * + * This file is part of paparazzi. + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, write to + * the Free Software Foundation, 59 Temple Place - Suite 330, + * Boston, MA 02111-1307, USA. + * + */ + +/** + * @file modules/ins/xsens700.c + * Parser for the Xsens700 protocol. + */ + +#include "xsens700.h" +#include "xsens_common.h" + +#include "generated/airframe.h" + +#if USE_GPS_XSENS +#include "math/pprz_geodetic_wgs84.h" +#endif + +// FIXME Debugging Only +#include "mcu_periph/uart.h" +#include "pprzlink/messages.h" +#include "subsystems/datalink/downlink.h" + + +uint8_t xsens_errorcode; +uint32_t xsens_msg_statusword; +uint16_t xsens_time_stamp; +uint16_t xsens_output_mode; +uint32_t xsens_output_settings; + +float xsens_gps_arm_x = 0; +float xsens_gps_arm_y = 0; +float xsens_gps_arm_z = 0; + +struct Xsens xsens700; + +volatile int xsens_configured = 0; + +void xsens700_init(void) +{ + xsens_status = UNINIT; + xsens_configured = 30; + + xsens_msg_statusword = 0; + xsens_time_stamp = 0; +} + +static void xsens_ask_message_rate(uint8_t c1, uint8_t c2, uint8_t freq) +{ + uint8_t foo = 0; + XsensSend1ByAddr(&c1); + XsensSend1ByAddr(&c2); + XsensSend1ByAddr(&foo); + XsensSend1ByAddr(&freq); +} + +void xsens700_periodic(void) +{ + if (xsens_configured > 0) { + switch (xsens_configured) { + case 25: + /* send mode and settings to MT */ + XSENS_GoToConfig(); + //XSENS_SetOutputMode(xsens_output_mode); + //XSENS_SetOutputSettings(xsens_output_settings); + break; + case 18: + // Give pulses on SyncOut + //XSENS_SetSyncOutSettings(0,0x0002); + break; + case 17: + + XsensHeader(XSENS_SetOutputConfiguration_ID, 44); + xsens_ask_message_rate(0x10, 0x10, 4); // UTC + xsens_ask_message_rate(0x20, 0x30, 100); // Attitude Euler + xsens_ask_message_rate(0x40, 0x10, 100); // Delta-V + xsens_ask_message_rate(0x80, 0x20, 100); // Rate of turn + xsens_ask_message_rate(0xE0, 0x20, 50); // Status + xsens_ask_message_rate(0x30, 0x10, 50); // Baro Pressure + xsens_ask_message_rate(0x88, 0x40, 1); // NavSol + xsens_ask_message_rate(0x88, 0xA0, 1); // SV Info + xsens_ask_message_rate(0x50, 0x20, 50); // GPS Altitude Ellipsiod + xsens_ask_message_rate(0x50, 0x40, 50); // GPS Position + xsens_ask_message_rate(0xD0, 0x10, 50); // GPS Speed + XsensTrailer(); + break; + case 2: + //XSENS_ReqLeverArmGps(); + break; + + case 6: + //XSENS_ReqMagneticDeclination(); + break; + + case 13: + //#ifdef AHRS_H_X + //#pragma message "Sending XSens Magnetic Declination." + //xsens_declination = atan2(AHRS_H_Y, AHRS_H_X); + //XSENS_SetMagneticDeclination(xsens_declination); + //#endif + break; + case 12: +#ifdef GPS_IMU_LEVER_ARM_X +#pragma message "Sending XSens GPS Arm." + XSENS_SetLeverArmGps(GPS_IMU_LEVER_ARM_X, GPS_IMU_LEVER_ARM_Y, GPS_IMU_LEVER_ARM_Z); +#endif + break; + case 10: { + uint8_t baud = 1; + XSENS_SetBaudrate(baud); + } + break; + + case 1: + XSENS_GoToMeasurment(); + break; + default: + break; + } + xsens_configured--; + return; + } + +} + + +void parse_xsens700_msg(void) +{ + uint8_t offset = 0; + if (xsens_id == XSENS_ReqLeverArmGpsAck_ID) { + xsens_gps_arm_x = XSENS_ReqLeverArmGpsAck_x(xsens_msg_buf); + xsens_gps_arm_y = XSENS_ReqLeverArmGpsAck_y(xsens_msg_buf); + xsens_gps_arm_z = XSENS_ReqLeverArmGpsAck_z(xsens_msg_buf); + } else if (xsens_id == XSENS_Error_ID) { + xsens_errorcode = XSENS_Error_errorcode(xsens_msg_buf); + } else if (xsens_id == XSENS_MTData2_ID) { + for (offset = 0; offset < xsens_len;) { + uint8_t code1 = xsens_msg_buf[offset]; + uint8_t code2 = xsens_msg_buf[offset + 1]; + int subpacklen = (int)xsens_msg_buf[offset + 2]; + offset += 3; + + if (code1 == 0x10) { + if (code2 == 0x10) { + // UTC + } else if (code2 == 0x20) { + // Packet Counter + } + if (code2 == 0x30) { + // ITOW + } + } else if (code1 == 0x20) { + if (code2 == 0x30) { + // Attitude Euler + xsens700.euler.phi = XSENS_DATA_Euler_roll(xsens_msg_buf, offset) * M_PI / 180; + xsens700.euler.theta = XSENS_DATA_Euler_pitch(xsens_msg_buf, offset) * M_PI / 180; + xsens700.euler.psi = XSENS_DATA_Euler_yaw(xsens_msg_buf, offset) * M_PI / 180; + + xsens700.new_attitude = TRUE; + } + } else if (code1 == 0x40) { + if (code2 == 0x10) { + // Delta-V + xsens700.accel.x = XSENS_DATA_Acceleration_x(xsens_msg_buf, offset) * 100.0f; + xsens700.accel.y = XSENS_DATA_Acceleration_y(xsens_msg_buf, offset) * 100.0f; + xsens700.accel.z = XSENS_DATA_Acceleration_z(xsens_msg_buf, offset) * 100.0f; + } + } else if (code1 == 0x80) { + if (code2 == 0x20) { + // Rate Of Turn + xsens700.gyro.p = XSENS_DATA_RateOfTurn_x(xsens_msg_buf, offset) * M_PI / 180; + xsens700.gyro.q = XSENS_DATA_RateOfTurn_y(xsens_msg_buf, offset) * M_PI / 180; + xsens700.gyro.r = XSENS_DATA_RateOfTurn_z(xsens_msg_buf, offset) * M_PI / 180; + } + } else if (code1 == 0x30) { + if (code2 == 0x10) { + // Baro Pressure + } + } else if (code1 == 0xE0) { + if (code2 == 0x20) { + // Status Word + xsens_msg_statusword = XSENS_DATA_StatusWord_status(xsens_msg_buf, offset); + //xsens700.gps.tow = xsens_msg_statusword; +#if USE_GPS_XSENS + if (bit_is_set(xsens_msg_statusword, 2) && bit_is_set(xsens_msg_statusword, 1)) { + if (bit_is_set(xsens_msg_statusword, 23) && bit_is_set(xsens_msg_statusword, 24)) { + xsens700.gps.fix = GPS_FIX_3D; + } else { + xsens700.gps.fix = GPS_FIX_2D; + } + } else { xsens700.gps.fix = GPS_FIX_NONE; } +#endif + } + } else if (code1 == 0x88) { + if (code2 == 0x40) { + xsens700.gps.week = XSENS_DATA_GpsSol_week(xsens_msg_buf, offset); + xsens700.gps.num_sv = XSENS_DATA_GpsSol_numSv(xsens_msg_buf, offset); + xsens700.gps.pacc = XSENS_DATA_GpsSol_pAcc(xsens_msg_buf, offset); + xsens700.gps.sacc = XSENS_DATA_GpsSol_sAcc(xsens_msg_buf, offset); + xsens700.gps.pdop = XSENS_DATA_GpsSol_pDop(xsens_msg_buf, offset); + } else if (code2 == 0xA0) { + // SVINFO + xsens700.gps.tow = XSENS_XDI_GpsSvInfo_iTOW(xsens_msg_buf + offset); + +#if USE_GPS_XSENS + xsens700.gps.nb_channels = XSENS_XDI_GpsSvInfo_nch(xsens_msg_buf + offset); + + xsens700.gps.last_3dfix_ticks = sys_time.nb_sec_rem; + xsens700.gps.last_3dfix_time = sys_time.nb_sec; + + uint8_t i; + // Do not write outside buffer + for (i = 0; i < Min(xsens700.gps.nb_channels, GPS_NB_CHANNELS); i++) { + uint8_t ch = XSENS_XDI_GpsSvInfo_chn(xsens_msg_buf + offset, i); + if (ch > xsens700.gps.nb_channels) { continue; } + xsens700.gps.svinfos[ch].svid = XSENS_XDI_GpsSvInfo_svid(xsens_msg_buf + offset, i); + xsens700.gps.svinfos[ch].flags = XSENS_XDI_GpsSvInfo_bitmask(xsens_msg_buf + offset, i); + xsens700.gps.svinfos[ch].qi = XSENS_XDI_GpsSvInfo_qi(xsens_msg_buf + offset, i); + xsens700.gps.svinfos[ch].cno = XSENS_XDI_GpsSvInfo_cnr(xsens_msg_buf + offset, i); + } +#endif + } + } else if (code1 == 0x50) { + if (code2 == 0x10) { + //xsens700.gps.hmsl = XSENS_DATA_Altitude_h(xsens_msg_buf,offset)* 1000.0f; + } else if (code2 == 0x20) { + // Altitude Elipsoid + xsens700.gps.lla_pos.alt = XSENS_DATA_Altitude_h(xsens_msg_buf, offset) * 1000.0f; + + // Compute geoid (MSL) height + float geoid_h = wgs84_ellipsoid_to_geoid(xsens700.lla_f.lat, xsens700.lla_f.lon); + xsens700.gps.hmsl = xsens700.gps.lla_pos.alt - (geoid_h * 1000.0f); + SetBit(xsens700.gps.valid_fields, GPS_VALID_HMSL_BIT); + + //xsens700.gps.tow = geoid_h * 1000.0f; //xsens700.gps.utm_pos.alt; + } else if (code2 == 0x40) { + // LatLong +#ifdef GPS_LED + LED_TOGGLE(GPS_LED); +#endif + xsens700.gps.last_3dfix_ticks = sys_time.nb_sec_rem; + xsens700.gps.last_3dfix_time = sys_time.nb_sec; + xsens700.gps.week = 0; // FIXME + + xsens700.lla_f.lat = RadOfDeg(XSENS_DATA_LatLon_lat(xsens_msg_buf, offset)); + xsens700.lla_f.lon = RadOfDeg(XSENS_DATA_LatLon_lon(xsens_msg_buf, offset)); + } + } else if (code1 == 0xD0) { + if (code2 == 0x10) { + // Velocity + xsens700.vel.x = XSENS_DATA_VelocityXYZ_x(xsens_msg_buf, offset); + xsens700.vel.y = XSENS_DATA_VelocityXYZ_y(xsens_msg_buf, offset); + xsens700.vel.z = XSENS_DATA_VelocityXYZ_z(xsens_msg_buf, offset); + xsens700.gps.ned_vel.x = xsens700.vel.x; + xsens700.gps.ned_vel.y = xsens700.vel.y; + xsens700.gps.ned_vel.z = xsens700.vel.x; + SetBit(xsens700.gps.valid_fields, GPS_VALID_VEL_NED_BIT); + } + } + + if (subpacklen < 0) { + subpacklen = 0; + } + offset += subpacklen; + } + } +} diff --git a/sw/airborne/modules/ins/xsens700.h b/sw/airborne/modules/ins/xsens700.h new file mode 100644 index 0000000000..ef221d76fc --- /dev/null +++ b/sw/airborne/modules/ins/xsens700.h @@ -0,0 +1,82 @@ +/* + * Copyright (C) 2010 ENAC + * + * This file is part of paparazzi. + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, write to + * the Free Software Foundation, 59 Temple Place - Suite 330, + * Boston, MA 02111-1307, USA. + * + */ + +/** @file modules/ins/xsens_700.h + * Parser for the Xsens protocol. + */ + +#ifndef XSENS700_H +#define XSENS700_H + +#include "std.h" +#include "math/pprz_algebra_float.h" +#include "math/pprz_geodetic_float.h" +#include "math/pprz_geodetic_int.h" + +#if USE_GPS_XSENS +#include "subsystems/gps.h" +#endif + +struct XsensTime { + int8_t hour; + int8_t min; + int8_t sec; + int32_t nanosec; + int16_t year; + int8_t month; + int8_t day; +}; + +struct Xsens { + struct XsensTime time; + uint16_t time_stamp; + + struct FloatRates gyro; + struct FloatVect3 accel; + struct FloatVect3 mag; + + struct LlaCoor_f lla_f; + struct FloatVect3 vel; ///< NED velocity in m/s + + struct FloatQuat quat; + struct FloatEulers euler; + + volatile bool msg_received; + volatile bool new_attitude; + + bool gyro_available; + bool accel_available; + bool mag_available; + +#if USE_GPS_XSENS + struct GpsState gps; + bool gps_available; +#endif +}; + +extern struct Xsens xsens700; + +extern void xsens700_init(void); +extern void xsens700_periodic(void); +extern void parse_xsens700_msg(void); + +#endif /* XSENS700_H */ diff --git a/sw/airborne/modules/ins/xsens_common.c b/sw/airborne/modules/ins/xsens_common.c new file mode 100644 index 0000000000..4c2c9ba95a --- /dev/null +++ b/sw/airborne/modules/ins/xsens_common.c @@ -0,0 +1,105 @@ +/* + * Copyright (C) 2003 Pascal Brisset, Antoine Drouin + * + * This file is part of paparazzi. + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, write to + * the Free Software Foundation, 59 Temple Place - Suite 330, + * Boston, MA 02111-1307, USA. + */ + +/** @file modules/ins/xsens_common.c + * Parser for the Xsens protocol. + */ + +#include "xsens_common.h" + +#include "pprzlink/pprzlink_device.h" +#include "mcu_periph/uart.h" + +volatile uint8_t xsens_msg_received; + +uint8_t xsens_id; +uint8_t xsens_status; +uint8_t xsens_len; +uint8_t xsens_msg_idx; +uint8_t ck; +uint8_t send_ck; + +uint8_t xsens_msg_buf[XSENS_MAX_PAYLOAD]; + +void parse_xsens_buffer(uint8_t c); + +void xsens_event(void) +{ + struct link_device *dev = &((XSENS_LINK).device); + if (dev->char_available(dev->periph)) { + while (dev->char_available(dev->periph) && !xsens_msg_received) { + parse_xsens_buffer(dev->get_byte(dev->periph)); + } + } +} + +void parse_xsens_buffer(uint8_t c) +{ + ck += c; + switch (xsens_status) { + case UNINIT: + if (c != XSENS_START) { + goto error; + } + xsens_status++; + ck = 0; + break; + case GOT_START: + if (c != XSENS_BID) { + goto error; + } + xsens_status++; + break; + case GOT_BID: + xsens_id = c; + xsens_status++; + break; + case GOT_MID: + xsens_len = c; + if (xsens_len > XSENS_MAX_PAYLOAD) { + goto error; + } + xsens_msg_idx = 0; + xsens_status++; + break; + case GOT_LEN: + xsens_msg_buf[xsens_msg_idx] = c; + xsens_msg_idx++; + if (xsens_msg_idx >= xsens_len) { + xsens_status++; + } + break; + case GOT_DATA: + if (ck != 0) { + goto error; + } + xsens_msg_received = TRUE; + goto restart; + break; + default: + break; + } + return; +error: +restart: + xsens_status = UNINIT; + return; +} diff --git a/sw/airborne/modules/ins/xsens_common.h b/sw/airborne/modules/ins/xsens_common.h new file mode 100644 index 0000000000..8abd2dc9ed --- /dev/null +++ b/sw/airborne/modules/ins/xsens_common.h @@ -0,0 +1,75 @@ +/* + * Copyright (C) 2003 Pascal Brisset, Antoine Drouin + * + * This file is part of paparazzi. + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, write to + * the Free Software Foundation, 59 Temple Place - Suite 330, + * Boston, MA 02111-1307, USA. + */ + +/** @file modules/ins/xsens_common.h + * Parser for the Xsens protocol. + */ + +#ifndef XSENS_COMMON_H +#define XSENS_COMMON_H + +#include "std.h" + +/** Includes macros generated from xsens_MTi-G.xml */ +#include "xsens_protocol.h" + +extern uint8_t xsens_id; +extern uint8_t xsens_status; +extern uint8_t xsens_len; +extern uint8_t xsens_msg_idx; +extern uint8_t ck; +extern uint8_t send_ck; + +#define XsensLinkDevice (&((XSENS_LINK).device)) + +#define XsensInitCheksum() { send_ck = 0; } +#define XsensUpdateChecksum(c) { send_ck += c; } + +#define XsensUartSend1(c) XsensLinkDevice->put_byte(XsensLinkDevice->periph, c) +#define XsensSend1(c) { uint8_t i8=c; XsensUartSend1(i8); XsensUpdateChecksum(i8); } +#define XsensSend1ByAddr(x) { XsensSend1(*x); } +#define XsensSend2ByAddr(x) { XsensSend1(*(x+1)); XsensSend1(*x); } +#define XsensSend4ByAddr(x) { XsensSend1(*(x+3)); XsensSend1(*(x+2)); XsensSend1(*(x+1)); XsensSend1(*x); } + +#define XsensHeader(msg_id, len) { \ + XsensUartSend1(XSENS_START); \ + XsensInitCheksum(); \ + XsensSend1(XSENS_BID); \ + XsensSend1(msg_id); \ + XsensSend1(len); \ + } +#define XsensTrailer() { uint8_t i8=0x100-send_ck; XsensUartSend1(i8); } + + +#define XSENS_MAX_PAYLOAD 254 +extern uint8_t xsens_msg_buf[XSENS_MAX_PAYLOAD]; + +#define UNINIT 0 +#define GOT_START 1 +#define GOT_BID 2 +#define GOT_MID 3 +#define GOT_LEN 4 +#define GOT_DATA 5 +#define GOT_CHECKSUM 6 + +extern void xsens_event(void); + +#endif /* XSENS_COMMON_H */ diff --git a/sw/airborne/modules/loggers/high_speed_logger_direct_memory.c b/sw/airborne/modules/loggers/high_speed_logger_direct_memory.c index d245082cf1..97c06491b9 100644 --- a/sw/airborne/modules/loggers/high_speed_logger_direct_memory.c +++ b/sw/airborne/modules/loggers/high_speed_logger_direct_memory.c @@ -168,7 +168,7 @@ uint32_t current_unerased_addr = 0x00000000; ///The address at wich we will read next time uint32_t current_reading_addr = 0x00000000; ///Flag stating if the memory is being used -static volatile bool_t memory_ready = TRUE; +static volatile bool memory_ready = true; ///Structure used for general comunication with the memory struct spi_transaction memory_transaction; ///Structure used for sending values to the memory @@ -200,7 +200,7 @@ static void memory_read_values_cb(struct spi_transaction *trans); void memory_read_id(void) { - memory_ready = FALSE; + memory_ready = false; msg[0] = 0x9F; memory_transaction.output_buf = (uint8_t *) msg; @@ -219,7 +219,7 @@ void memory_read_id(void) */ void memory_send_wren(void) { - memory_ready = FALSE; + memory_ready = false; msg[0] = 0x06; memory_transaction.output_buf = (uint8_t *) msg; @@ -238,7 +238,7 @@ void memory_send_wren(void) */ void memory_send_wrdi(void) { - memory_ready = FALSE; + memory_ready = false; msg[0] = 0x04; memory_transaction.output_buf = (uint8_t *) msg; @@ -257,7 +257,7 @@ void memory_send_wrdi(void) */ void memory_read_status_1(void) { - memory_ready = FALSE; + memory_ready = false; msg[0] = 0x05; memory_transaction.output_buf = (uint8_t *) msg; @@ -279,7 +279,7 @@ void memory_read_status_1(void) static void memory_read_status_cb(struct spi_transaction *trans __attribute__((unused))) { - memory_ready = TRUE; + memory_ready = true; memory_status_byte = buff[1]; wait_answear_from_reading_memory = 0; @@ -295,7 +295,7 @@ void memory_erase_4k(uint32_t mem_addr) uint8_t *addr = (uint8_t *) &mem_addr; - memory_ready = FALSE; + memory_ready = false; msg[0] = 0x21; msg[1] = addr[3]; msg[2] = addr[2]; @@ -319,7 +319,7 @@ void memory_erase_4k(uint32_t mem_addr) void memory_completly_erase(void) { - memory_ready = FALSE; + memory_ready = false; msg[0] = 0xC7; memory_transaction.output_buf = (uint8_t *) msg; @@ -346,7 +346,7 @@ void memory_write_values(uint32_t mem_addr, uint8_t *values, uint8_t size) uint8_t *addr = (uint8_t *) &mem_addr; uint8_t i; - memory_ready = FALSE; + memory_ready = false; values_send_buffer[0] = 0x12; values_send_buffer[1] = addr[3]; values_send_buffer[2] = addr[2]; @@ -379,7 +379,7 @@ void memory_read_values(uint32_t mem_addr, uint8_t size) uint8_t *addr = (uint8_t *) &mem_addr; - memory_ready = FALSE; + memory_ready = false; msg[0] = 0x13; msg[1] = addr[3]; msg[2] = addr[2]; @@ -408,7 +408,7 @@ static void memory_read_values_cb(struct spi_transaction *trans __attribute__((u uint8_t msg_size = memory_transaction.input_length; - memory_ready = TRUE; + memory_ready = true; if (msg_size) { @@ -434,7 +434,7 @@ static void memory_read_values_cb(struct spi_transaction *trans __attribute__((u */ static void memory_transaction_done_cb(struct spi_transaction *trans __attribute__((unused))) { - memory_ready = TRUE; + memory_ready = true; } diff --git a/sw/airborne/modules/loggers/high_speed_logger_spi_link.c b/sw/airborne/modules/loggers/high_speed_logger_spi_link.c index fd8993d0d8..523c1533b6 100644 --- a/sw/airborne/modules/loggers/high_speed_logger_spi_link.c +++ b/sw/airborne/modules/loggers/high_speed_logger_spi_link.c @@ -28,7 +28,7 @@ struct high_speed_logger_spi_link_data high_speed_logger_spi_link_data; struct spi_transaction high_speed_logger_spi_link_transaction; -static volatile bool_t high_speed_logger_spi_link_ready = TRUE; +static volatile bool high_speed_logger_spi_link_ready = true; static void high_speed_logger_spi_link_trans_cb(struct spi_transaction *trans); @@ -54,7 +54,7 @@ void high_speed_logger_spi_link_init(void) void high_speed_logger_spi_link_periodic(void) { if (high_speed_logger_spi_link_ready) { - high_speed_logger_spi_link_ready = FALSE; + high_speed_logger_spi_link_ready = false; high_speed_logger_spi_link_data.gyro_p = imu.gyro_unscaled.p; high_speed_logger_spi_link_data.gyro_q = imu.gyro_unscaled.q; high_speed_logger_spi_link_data.gyro_r = imu.gyro_unscaled.r; @@ -73,7 +73,7 @@ void high_speed_logger_spi_link_periodic(void) static void high_speed_logger_spi_link_trans_cb(struct spi_transaction *trans __attribute__((unused))) { - high_speed_logger_spi_link_ready = TRUE; + high_speed_logger_spi_link_ready = true; } diff --git a/sw/airborne/modules/loggers/sdlogger_spi_direct.c b/sw/airborne/modules/loggers/sdlogger_spi_direct.c index 7e02d7eaaa..22092fb2bc 100644 --- a/sw/airborne/modules/loggers/sdlogger_spi_direct.c +++ b/sw/airborne/modules/loggers/sdlogger_spi_direct.c @@ -344,15 +344,15 @@ void sdlogger_spi_direct_command(void) sdlogger_spi.command = 0; } -bool_t sdlogger_spi_direct_check_free_space(struct sdlogger_spi_periph *p, uint8_t len) +bool sdlogger_spi_direct_check_free_space(struct sdlogger_spi_periph *p, uint8_t len) { if (p->status == SDLogger_Logging) { /* Calculating free space in both buffers */ if ( (513 - p->sdcard_buf_idx) + (SDLOGGER_BUFFER_SIZE - p->idx) >= len) { - return TRUE; + return true; } } - return FALSE; + return false; } void sdlogger_spi_direct_put_byte(struct sdlogger_spi_periph *p, uint8_t data) diff --git a/sw/airborne/modules/loggers/sdlogger_spi_direct.h b/sw/airborne/modules/loggers/sdlogger_spi_direct.h index 2d55fa744e..251b8c84a6 100644 --- a/sw/airborne/modules/loggers/sdlogger_spi_direct.h +++ b/sw/airborne/modules/loggers/sdlogger_spi_direct.h @@ -72,7 +72,7 @@ extern void sdlogger_spi_direct_index_received(void); extern void sdlogger_spi_direct_multiwrite_written(void); extern void sdlogger_spi_direct_command(void); -extern bool_t sdlogger_spi_direct_check_free_space(struct sdlogger_spi_periph *p, uint8_t len); +extern bool sdlogger_spi_direct_check_free_space(struct sdlogger_spi_periph *p, uint8_t len); extern void sdlogger_spi_direct_put_byte(struct sdlogger_spi_periph *p, uint8_t data); extern void sdlogger_spi_direct_send_message(void *p); extern int sdlogger_spi_direct_char_available(void *p); diff --git a/sw/airborne/modules/meteo/humid_sht.c b/sw/airborne/modules/meteo/humid_sht.c index 884cb3a5dc..17c49496ff 100644 --- a/sw/airborne/modules/meteo/humid_sht.c +++ b/sw/airborne/modules/meteo/humid_sht.c @@ -40,7 +40,7 @@ #include "sdLog.h" #include "subsystems/chibios-libopencm3/chibios_sdlog.h" #include "subsystems/gps.h" -bool_t log_sht_started; +bool log_sht_started; #endif //#include "led.h" @@ -86,7 +86,7 @@ bool_t log_sht_started; uint16_t humidsht, tempsht; float fhumidsht, ftempsht; -bool_t humid_sht_available; +bool humid_sht_available; uint8_t humid_sht_status; uint8_t s_write_byte(uint8_t value); @@ -305,11 +305,11 @@ void humid_sht_init(void) gpio_clear(SHT_SCK_GPIO); - humid_sht_available = FALSE; + humid_sht_available = false; humid_sht_status = SHT_IDLE; #if SHT_SDLOG - log_sht_started = FALSE; + log_sht_started = false; #endif } @@ -345,18 +345,18 @@ void humid_sht_periodic(void) //LED_TOGGLE(2); } else { calc_sht(humidsht, tempsht, &fhumidsht, &ftempsht); - humid_sht_available = TRUE; + humid_sht_available = true; s_connectionreset(); s_start_measure(HUMI); humid_sht_status = SHT_MEASURING_HUMID; DOWNLINK_SEND_SHT_STATUS(DefaultChannel, DefaultDevice, &humidsht, &tempsht, &fhumidsht, &ftempsht); - humid_sht_available = FALSE; + humid_sht_available = false; #if SHT_SDLOG if (pprzLogFile != -1) { if (!log_sht_started) { sdLogWriteLog(pprzLogFile, "SHT75: Humid(pct) Temp(degC) GPS_fix TOW(ms) Week Lat(1e7deg) Lon(1e7deg) HMSL(mm) gspeed(cm/s) course(1e7deg) climb(cm/s)\n"); - log_sht_started = TRUE; + log_sht_started = true; } sdLogWriteLog(pprzLogFile, "sht75: %9.4f %9.4f %d %d %d %d %d %d %d %d %d\n", fhumidsht, ftempsht, diff --git a/sw/airborne/modules/meteo/humid_sht.h b/sw/airborne/modules/meteo/humid_sht.h index 68436a6646..c3cd97344a 100644 --- a/sw/airborne/modules/meteo/humid_sht.h +++ b/sw/airborne/modules/meteo/humid_sht.h @@ -34,7 +34,7 @@ extern uint16_t humidsht, tempsht; extern float fhumidsht, ftempsht; -extern bool_t humid_sht_available; +extern bool humid_sht_available; extern uint8_t humid_sht_status; void humid_sht_init(void); diff --git a/sw/airborne/modules/meteo/meteo_france_DAQ.c b/sw/airborne/modules/meteo/meteo_france_DAQ.c index 59db68ba77..872b991e1d 100644 --- a/sw/airborne/modules/meteo/meteo_france_DAQ.c +++ b/sw/airborne/modules/meteo/meteo_france_DAQ.c @@ -44,7 +44,7 @@ #include "modules/datalink/extra_pprz_dl.h" struct MF_DAQ mf_daq; -bool_t log_started; +bool log_started; #ifndef MF_DAQ_POWER_INIT #define MF_DAQ_POWER_INIT TRUE @@ -62,7 +62,7 @@ void init_mf_daq(void) gpio_setup_output(MF_DAQ_POWER_PORT, MF_DAQ_POWER_PIN); #endif meteo_france_DAQ_SetPower(mf_daq.power); - log_started = FALSE; + log_started = false; } void mf_daq_send_state(void) @@ -100,7 +100,7 @@ void mf_daq_send_report(void) if (log_started == FALSE) { // Log MD5SUM once DOWNLINK_SEND_ALIVE(pprzlog_tp, chibios_sdlog, 16, MD5SUM); - log_started = TRUE; + log_started = true; } // Log GPS for time reference uint8_t foo = 0; diff --git a/sw/airborne/modules/meteo/meteo_stick.c b/sw/airborne/modules/meteo/meteo_stick.c index ff0a836950..0aa864a4c1 100644 --- a/sw/airborne/modules/meteo/meteo_stick.c +++ b/sw/airborne/modules/meteo/meteo_stick.c @@ -175,7 +175,7 @@ static inline float get_humidity(uint32_t raw) #if LOG_MS #include "sdLog.h" #include "subsystems/chibios-libopencm3/chibios_sdlog.h" -bool_t log_ptu_started; +bool log_ptu_started; #endif /* Includes and function to send over telemetry @@ -216,7 +216,7 @@ void meteo_stick_init(void) // Init absolute pressure meteo_stick.pressure.config.mux = ADS1220_MUX_AIN0_AVSS; meteo_stick.pressure.config.gain = ADS1220_GAIN_1; - meteo_stick.pressure.config.pga_bypass = TRUE; + meteo_stick.pressure.config.pga_bypass = true; meteo_stick.pressure.config.rate = ADS1220_RATE_45_HZ; meteo_stick.pressure.config.conv = ADS1220_CONTINIOUS_CONVERSION; meteo_stick.pressure.config.vref = ADS1220_VREF_VDD; @@ -230,7 +230,7 @@ void meteo_stick_init(void) // Init differential pressure meteo_stick.diff_pressure.config.mux = ADS1220_MUX_AIN0_AVSS; meteo_stick.diff_pressure.config.gain = ADS1220_GAIN_2; - meteo_stick.diff_pressure.config.pga_bypass = TRUE; + meteo_stick.diff_pressure.config.pga_bypass = true; meteo_stick.diff_pressure.config.rate = ADS1220_RATE_45_HZ; meteo_stick.diff_pressure.config.conv = ADS1220_CONTINIOUS_CONVERSION; meteo_stick.diff_pressure.config.vref = ADS1220_VREF_VDD; @@ -244,7 +244,7 @@ void meteo_stick_init(void) // Init temperature meteo_stick.temperature.config.mux = ADS1220_MUX_AIN0_AIN1; meteo_stick.temperature.config.gain = ADS1220_GAIN_4; - meteo_stick.temperature.config.pga_bypass = TRUE; + meteo_stick.temperature.config.pga_bypass = true; meteo_stick.temperature.config.rate = ADS1220_RATE_45_HZ; meteo_stick.temperature.config.conv = ADS1220_CONTINIOUS_CONVERSION; meteo_stick.temperature.config.vref = ADS1220_VREF_EXTERNAL_REF; @@ -275,10 +275,10 @@ void meteo_stick_init(void) // Number of measurements before setting pitot offset pitot_counter = MS_PITOT_COUNTER; - meteo_stick.reset_dp_offset = FALSE; + meteo_stick.reset_dp_offset = false; #if LOG_MS - log_ptu_started = FALSE; + log_ptu_started = false; #endif } @@ -348,12 +348,12 @@ void meteo_stick_periodic(void) sdLogWriteLog(pprzLogFile, "#\n"); sdLogWriteLog(pprzLogFile, "P(adc) T(adc) H(ticks) P_diff(adc) P(hPa) T(C) H(\%) CAS(m/s) FIX TOW(ms) WEEK Lat(1e7rad) Lon(1e7rad) HMSL(mm) GS(cm/s) course(1e7rad) VZ(cm/s)\n"); - log_ptu_started = TRUE; + log_ptu_started = true; } #else sdLogWriteLog(pprzLogFile, "P(adc) T(adc) H(ticks) P_diff(adc) P(hPa) T(C) H(\%) CAS(m/s) FIX TOW(ms) WEEK Lat(1e7rad) Lon(1e7rad) HMSL(mm) GS(cm/s) course(1e7rad) VZ(cm/s)\n"); - log_ptu_started = TRUE; + log_ptu_started = true; #endif } else { sdLogWriteLog(pprzLogFile, "%d %d %d %d %.2f %.2f %.2f %.2f %d %d %d %d %d %d %d %d %d\n", @@ -376,7 +376,7 @@ void meteo_stick_periodic(void) // Check if DP offset reset is required if (meteo_stick.reset_dp_offset) { pitot_counter = MS_PITOT_COUNTER; - meteo_stick.reset_dp_offset = FALSE; + meteo_stick.reset_dp_offset = false; } } @@ -401,7 +401,7 @@ void meteo_stick_event(void) #if USE_MS_PRESSURE AbiSendMsgBARO_ABS(METEO_STICK_SENDER_ID, meteo_stick.current_pressure); #endif - meteo_stick.pressure.data_available = FALSE; + meteo_stick.pressure.data_available = false; } #endif @@ -423,7 +423,7 @@ void meteo_stick_event(void) AbiSendMsgBARO_DIFF(METEO_STICK_SENDER_ID, diff); #endif meteo_stick.current_airspeed = get_pitot(meteo_stick.diff_pressure.data); - meteo_stick.diff_pressure.data_available = FALSE; + meteo_stick.diff_pressure.data_available = false; } } #endif @@ -435,7 +435,7 @@ void meteo_stick_event(void) #if USE_MS_TEMPERATURE AbiSendMsgTEMPERATURE(METEO_STICK_SENDER_ID, meteo_stick.current_temperature); #endif - meteo_stick.temperature.data_available = FALSE; + meteo_stick.temperature.data_available = false; } #endif diff --git a/sw/airborne/modules/meteo/meteo_stick.h b/sw/airborne/modules/meteo/meteo_stick.h index 6360c37965..33b94fd91d 100644 --- a/sw/airborne/modules/meteo/meteo_stick.h +++ b/sw/airborne/modules/meteo/meteo_stick.h @@ -69,7 +69,7 @@ struct MeteoStick { struct Eeprom25AA256 eeprom; ///< eeprom with calibration data Calibration_params calib; ///< calibration #endif - bool_t reset_dp_offset; ///< reset differential pressure offset + bool reset_dp_offset; ///< reset differential pressure offset }; extern struct MeteoStick meteo_stick; diff --git a/sw/airborne/modules/meteo/mf_ptu.c b/sw/airborne/modules/meteo/mf_ptu.c index 45ebadb974..333f53092f 100644 --- a/sw/airborne/modules/meteo/mf_ptu.c +++ b/sw/airborne/modules/meteo/mf_ptu.c @@ -64,7 +64,7 @@ uint32_t humid_period; #if LOG_PTU #include "sdLog.h" #include "subsystems/chibios-libopencm3/chibios_sdlog.h" -bool_t log_ptu_started; +bool log_ptu_started; #endif #if SEND_PTU @@ -89,7 +89,7 @@ void mf_ptu_init(void) humid_period = 0; #if LOG_PTU - log_ptu_started = FALSE; + log_ptu_started = false; #endif } @@ -107,7 +107,7 @@ void mf_ptu_periodic(void) if (!log_ptu_started) { sdLogWriteLog(pprzLogFile, "P(adc) T(adc) H(usec) GPS_fix TOW(ms) Week Lat(1e7rad) Lon(1e7rad) HMSL(mm) gpseed(cm/s) course(1e7rad) climb(cm/s)\n"); - log_ptu_started = TRUE; + log_ptu_started = true; } else { sdLogWriteLog(pprzLogFile, "%d %d %d %d %d %d %d %d %d %d %d %d\n", pressure_adc, temp_adc, humid_period, diff --git a/sw/airborne/modules/meteo/temp_temod.c b/sw/airborne/modules/meteo/temp_temod.c index 6883409669..bfa9d6e0ec 100644 --- a/sw/airborne/modules/meteo/temp_temod.c +++ b/sw/airborne/modules/meteo/temp_temod.c @@ -38,7 +38,7 @@ #include "sdLog.h" #include "subsystems/chibios-libopencm3/chibios_sdlog.h" #include "subsystems/gps.h" -bool_t log_temod_started; +bool log_temod_started; #endif float ftmd_temperature; @@ -60,7 +60,7 @@ void temod_init(void) tmd_trans.status = I2CTransDone; #if TEMP_TEMOD_SDLOG - log_temod_started = FALSE; + log_temod_started = false; #endif } @@ -91,7 +91,7 @@ void temod_event(void) if (pprzLogFile != -1) { if (!log_temod_started) { sdLogWriteLog(pprzLogFile, "TEMOD: Temp(degC) GPS_fix TOW(ms) Week Lat(1e7deg) Lon(1e7deg) HMSL(mm) gspeed(cm/s) course(1e7deg) climb(cm/s)\n"); - log_temod_started = TRUE; + log_temod_started = true; } else { sdLogWriteLog(pprzLogFile, "temod: %9.4f %d %d %d %d %d %d %d %d %d\n", diff --git a/sw/airborne/modules/meteo/temp_tmp102.c b/sw/airborne/modules/meteo/temp_tmp102.c index 2a98612b59..cc2edcf220 100644 --- a/sw/airborne/modules/meteo/temp_tmp102.c +++ b/sw/airborne/modules/meteo/temp_tmp102.c @@ -62,7 +62,7 @@ struct i2c_transaction tmp_trans; void tmp102_init(void) { - tmp_meas_started = FALSE; + tmp_meas_started = false; /* configure 8Hz and enhanced mode */ tmp_trans.buf[0] = TMP102_CONF_REG; tmp_trans.buf[1] = TMP102_CONF1; @@ -74,7 +74,7 @@ void tmp102_periodic(void) { tmp_trans.buf[0] = TMP102_TEMP_REG; i2c_transceive(&TMP_I2C_DEV, &tmp_trans, TMP102_SLAVE_ADDR, 1, 2); - tmp_meas_started = TRUE; + tmp_meas_started = true; } void tmp102_event(void) diff --git a/sw/airborne/modules/meteo/windturbine.c b/sw/airborne/modules/meteo/windturbine.c index c7d8c7a5a1..57c841e6f4 100644 --- a/sw/airborne/modules/meteo/windturbine.c +++ b/sw/airborne/modules/meteo/windturbine.c @@ -53,7 +53,7 @@ void windturbine_periodic(void) &turb_id, &sync_itow, &cycle_time); - trigger_ext_valid = FALSE; + trigger_ext_valid = false; } } diff --git a/sw/airborne/modules/mission/mission_common.c b/sw/airborne/modules/mission/mission_common.c index fb949fc25b..e7ce945802 100644 --- a/sw/airborne/modules/mission/mission_common.c +++ b/sw/airborne/modules/mission/mission_common.c @@ -44,23 +44,23 @@ void mission_init(void) // Insert element -bool_t mission_insert(enum MissionInsertMode insert, struct _mission_element *element) +bool mission_insert(enum MissionInsertMode insert, struct _mission_element *element) { uint8_t tmp; // convert element if needed, return FALSE if failed - if (!mission_element_convert(element)) { return FALSE; } + if (!mission_element_convert(element)) { return false; } switch (insert) { case Append: tmp = (mission.insert_idx + 1) % MISSION_ELEMENT_NB; - if (tmp == mission.current_idx) { return FALSE; } // no room to insert element + if (tmp == mission.current_idx) { return false; } // no room to insert element mission.elements[mission.insert_idx] = *element; // add element mission.insert_idx = tmp; // move insert index break; case Prepend: if (mission.current_idx == 0) { tmp = MISSION_ELEMENT_NB - 1; } else { tmp = mission.current_idx - 1; } - if (tmp == mission.insert_idx) { return FALSE; } // no room to inser element + if (tmp == mission.insert_idx) { return false; } // no room to inser element mission.elements[tmp] = *element; // add element mission.current_idx = tmp; // move current index break; @@ -76,15 +76,15 @@ bool_t mission_insert(enum MissionInsertMode insert, struct _mission_element *el break; default: // unknown insertion mode - return FALSE; + return false; } - return TRUE; + return true; } // Weak implementation of mission_element_convert (leave element unchanged) -bool_t __attribute__((weak)) mission_element_convert(struct _mission_element *el __attribute__((unused))) { return TRUE; } +bool __attribute__((weak)) mission_element_convert(struct _mission_element *el __attribute__((unused))) { return true; } // Get element @@ -125,7 +125,7 @@ void mission_status_report(void) int mission_parse_GOTO_WP(void) { - if (DL_MISSION_GOTO_WP_ac_id(dl_buffer) != AC_ID) { return FALSE; } // not for this aircraft + if (DL_MISSION_GOTO_WP_ac_id(dl_buffer) != AC_ID) { return false; } // not for this aircraft struct _mission_element me; me.type = MissionWP; @@ -141,7 +141,7 @@ int mission_parse_GOTO_WP(void) int mission_parse_GOTO_WP_LLA(void) { - if (DL_MISSION_GOTO_WP_LLA_ac_id(dl_buffer) != AC_ID) { return FALSE; } // not for this aircraft + if (DL_MISSION_GOTO_WP_LLA_ac_id(dl_buffer) != AC_ID) { return false; } // not for this aircraft struct LlaCoor_i lla; lla.lat = DL_MISSION_GOTO_WP_LLA_wp_lat(dl_buffer); @@ -151,7 +151,7 @@ int mission_parse_GOTO_WP_LLA(void) struct _mission_element me; me.type = MissionWP; // if there is no valid local coordinate, do not insert mission element - if (!mission_point_of_lla(&me.element.mission_wp.wp.wp_f, &lla)) { return FALSE; } + if (!mission_point_of_lla(&me.element.mission_wp.wp.wp_f, &lla)) { return false; } me.duration = DL_MISSION_GOTO_WP_LLA_duration(dl_buffer); enum MissionInsertMode insert = (enum MissionInsertMode)(DL_MISSION_GOTO_WP_LLA_insert(dl_buffer)); @@ -161,7 +161,7 @@ int mission_parse_GOTO_WP_LLA(void) int mission_parse_CIRCLE(void) { - if (DL_MISSION_CIRCLE_ac_id(dl_buffer) != AC_ID) { return FALSE; } // not for this aircraft + if (DL_MISSION_CIRCLE_ac_id(dl_buffer) != AC_ID) { return false; } // not for this aircraft struct _mission_element me; me.type = MissionCircle; @@ -178,7 +178,7 @@ int mission_parse_CIRCLE(void) int mission_parse_CIRCLE_LLA(void) { - if (DL_MISSION_CIRCLE_LLA_ac_id(dl_buffer) != AC_ID) { return FALSE; } // not for this aircraft + if (DL_MISSION_CIRCLE_LLA_ac_id(dl_buffer) != AC_ID) { return false; } // not for this aircraft struct LlaCoor_i lla; lla.lat = DL_MISSION_CIRCLE_LLA_center_lat(dl_buffer); @@ -188,7 +188,7 @@ int mission_parse_CIRCLE_LLA(void) struct _mission_element me; me.type = MissionCircle; // if there is no valid local coordinate, do not insert mission element - if (!mission_point_of_lla(&me.element.mission_circle.center.center_f, &lla)) { return FALSE; } + if (!mission_point_of_lla(&me.element.mission_circle.center.center_f, &lla)) { return false; } me.element.mission_circle.radius = DL_MISSION_CIRCLE_LLA_radius(dl_buffer); me.duration = DL_MISSION_CIRCLE_LLA_duration(dl_buffer); @@ -199,7 +199,7 @@ int mission_parse_CIRCLE_LLA(void) int mission_parse_SEGMENT(void) { - if (DL_MISSION_SEGMENT_ac_id(dl_buffer) != AC_ID) { return FALSE; } // not for this aircraft + if (DL_MISSION_SEGMENT_ac_id(dl_buffer) != AC_ID) { return false; } // not for this aircraft struct _mission_element me; me.type = MissionSegment; @@ -218,7 +218,7 @@ int mission_parse_SEGMENT(void) int mission_parse_SEGMENT_LLA(void) { - if (DL_MISSION_SEGMENT_LLA_ac_id(dl_buffer) != AC_ID) { return FALSE; } // not for this aircraft + if (DL_MISSION_SEGMENT_LLA_ac_id(dl_buffer) != AC_ID) { return false; } // not for this aircraft struct LlaCoor_i from_lla, to_lla; from_lla.lat = DL_MISSION_SEGMENT_LLA_segment_lat_1(dl_buffer); @@ -231,8 +231,8 @@ int mission_parse_SEGMENT_LLA(void) struct _mission_element me; me.type = MissionSegment; // if there is no valid local coordinate, do not insert mission element - if (!mission_point_of_lla(&me.element.mission_segment.from.from_f, &from_lla)) { return FALSE; } - if (!mission_point_of_lla(&me.element.mission_segment.to.to_f, &to_lla)) { return FALSE; } + if (!mission_point_of_lla(&me.element.mission_segment.from.from_f, &from_lla)) { return false; } + if (!mission_point_of_lla(&me.element.mission_segment.to.to_f, &to_lla)) { return false; } me.duration = DL_MISSION_SEGMENT_LLA_duration(dl_buffer); enum MissionInsertMode insert = (enum MissionInsertMode)(DL_MISSION_SEGMENT_LLA_insert(dl_buffer)); @@ -242,7 +242,7 @@ int mission_parse_SEGMENT_LLA(void) int mission_parse_PATH(void) { - if (DL_MISSION_PATH_ac_id(dl_buffer) != AC_ID) { return FALSE; } // not for this aircraft + if (DL_MISSION_PATH_ac_id(dl_buffer) != AC_ID) { return false; } // not for this aircraft struct _mission_element me; me.type = MissionPath; @@ -273,7 +273,7 @@ int mission_parse_PATH(void) int mission_parse_PATH_LLA(void) { - if (DL_MISSION_PATH_LLA_ac_id(dl_buffer) != AC_ID) { return FALSE; } // not for this aircraft + if (DL_MISSION_PATH_LLA_ac_id(dl_buffer) != AC_ID) { return false; } // not for this aircraft struct LlaCoor_i lla[MISSION_PATH_NB]; lla[0].lat = DL_MISSION_PATH_LLA_point_lat_1(dl_buffer); @@ -299,7 +299,7 @@ int mission_parse_PATH_LLA(void) if (me.element.mission_path.nb > MISSION_PATH_NB) { me.element.mission_path.nb = MISSION_PATH_NB; } for (i = 0; i < me.element.mission_path.nb; i++) { // if there is no valid local coordinate, do not insert mission element - if (!mission_point_of_lla(&me.element.mission_path.path.path_f[i], &lla[i])) { return FALSE; } + if (!mission_point_of_lla(&me.element.mission_path.path.path_f[i], &lla[i])) { return false; } } me.element.mission_path.path_idx = 0; me.duration = DL_MISSION_PATH_LLA_duration(dl_buffer); @@ -311,33 +311,33 @@ int mission_parse_PATH_LLA(void) int mission_parse_GOTO_MISSION(void) { - if (DL_GOTO_MISSION_ac_id(dl_buffer) != AC_ID) { return FALSE; } // not for this aircraft + if (DL_GOTO_MISSION_ac_id(dl_buffer) != AC_ID) { return false; } // not for this aircraft uint8_t mission_id = DL_GOTO_MISSION_mission_id(dl_buffer); if (mission_id < MISSION_ELEMENT_NB) { mission.current_idx = mission_id; - } else { return FALSE; } + } else { return false; } - return TRUE; + return true; } int mission_parse_NEXT_MISSION(void) { - if (DL_NEXT_MISSION_ac_id(dl_buffer) != AC_ID) { return FALSE; } // not for this aircraft + if (DL_NEXT_MISSION_ac_id(dl_buffer) != AC_ID) { return false; } // not for this aircraft - if (mission.current_idx == mission.insert_idx) { return FALSE; } // already at the last position + if (mission.current_idx == mission.insert_idx) { return false; } // already at the last position // increment current index mission.current_idx = (mission.current_idx + 1) % MISSION_ELEMENT_NB; - return TRUE; + return true; } int mission_parse_END_MISSION(void) { - if (DL_END_MISSION_ac_id(dl_buffer) != AC_ID) { return FALSE; } // not for this aircraft + if (DL_END_MISSION_ac_id(dl_buffer) != AC_ID) { return false; } // not for this aircraft // set current index to insert index (last position) mission.current_idx = mission.insert_idx; - return TRUE; + return true; } diff --git a/sw/airborne/modules/mission/mission_common.h b/sw/airborne/modules/mission/mission_common.h index a9c41e3585..10c7aa4591 100644 --- a/sw/airborne/modules/mission/mission_common.h +++ b/sw/airborne/modules/mission/mission_common.h @@ -127,13 +127,13 @@ extern void mission_init(void); * @param element mission element structure * @return return TRUE if insertion is succesful, FALSE otherwise */ -extern bool_t mission_insert(enum MissionInsertMode insert, struct _mission_element *element); +extern bool mission_insert(enum MissionInsertMode insert, struct _mission_element *element); /** Convert mission element's points format if needed * @param el pointer to the mission element * @return return TRUE if conversion is succesful, FALSE otherwise */ -extern bool_t mission_element_convert(struct _mission_element *el); +extern bool mission_element_convert(struct _mission_element *el); /** Get current mission element * @return return a pointer to the next mission element or NULL if no more elements @@ -146,7 +146,7 @@ extern struct _mission_element *mission_get(void); * @param lla pointer to the input LLA coordinates (int) * @return TRUE if conversion is succesful, FALSE otherwise */ -extern bool_t mission_point_of_lla(struct EnuCoor_f *point, struct LlaCoor_i *lla); +extern bool mission_point_of_lla(struct EnuCoor_f *point, struct LlaCoor_i *lla); /** Run mission * diff --git a/sw/airborne/modules/mission/mission_fw_nav.c b/sw/airborne/modules/mission/mission_fw_nav.c index 473aef46e2..1b980b9e55 100644 --- a/sw/airborne/modules/mission/mission_fw_nav.c +++ b/sw/airborne/modules/mission/mission_fw_nav.c @@ -35,7 +35,7 @@ #include "generated/flight_plan.h" /// Utility function: converts lla (int) to local point (float) -bool_t mission_point_of_lla(struct EnuCoor_f *point, struct LlaCoor_i *lla) +bool mission_point_of_lla(struct EnuCoor_f *point, struct LlaCoor_i *lla) { /// TODO: don't convert to float, either use double or do completely in fixed point struct LlaCoor_f lla_f; @@ -60,7 +60,7 @@ bool_t mission_point_of_lla(struct EnuCoor_f *point, struct LlaCoor_i *lla) point->y = waypoints[WP_HOME].y + dy; point->z = lla->alt; - return TRUE; + return true; } // navigation time step @@ -71,50 +71,50 @@ struct EnuCoor_f last_wp_f = { 0., 0., 0. }; /** Navigation function to a single waypoint */ -static inline bool_t mission_nav_wp(struct _mission_wp *wp) +static inline bool mission_nav_wp(struct _mission_wp *wp) { if (nav_approaching_xy(wp->wp.wp_f.x, wp->wp.wp_f.y, last_wp_f.x, last_wp_f.y, CARROT)) { last_wp_f = wp->wp.wp_f; // store last wp - return FALSE; // end of mission element + return false; // end of mission element } // set navigation command fly_to_xy(wp->wp.wp_f.x, wp->wp.wp_f.y); NavVerticalAutoThrottleMode(0.); NavVerticalAltitudeMode(wp->wp.wp_f.z, 0.); - return TRUE; + return true; } /** Navigation function on a circle */ -static inline bool_t mission_nav_circle(struct _mission_circle *circle) +static inline bool mission_nav_circle(struct _mission_circle *circle) { nav_circle_XY(circle->center.center_f.x, circle->center.center_f.y, circle->radius); NavVerticalAutoThrottleMode(0.); NavVerticalAltitudeMode(circle->center.center_f.z, 0.); - return TRUE; + return true; } /** Navigation function along a segment */ -static inline bool_t mission_nav_segment(struct _mission_segment *segment) +static inline bool mission_nav_segment(struct _mission_segment *segment) { if (nav_approaching_xy(segment->to.to_f.x, segment->to.to_f.y, segment->from.from_f.x, segment->from.from_f.y, CARROT)) { last_wp_f = segment->to.to_f; - return FALSE; // end of mission element + return false; // end of mission element } nav_route_xy(segment->from.from_f.x, segment->from.from_f.y, segment->to.to_f.x, segment->to.to_f.y); NavVerticalAutoThrottleMode(0.); NavVerticalAltitudeMode(segment->to.to_f.z, 0.); // both altitude should be the same anyway - return TRUE; + return true; } /** Navigation function along a path */ -static inline bool_t mission_nav_path(struct _mission_path *path) +static inline bool mission_nav_path(struct _mission_path *path) { if (path->nb == 0) { - return FALSE; // nothing to do + return false; // nothing to do } if (path->nb == 1) { // handle as a single waypoint @@ -124,7 +124,7 @@ static inline bool_t mission_nav_path(struct _mission_path *path) } if (path->path_idx == path->nb - 1) { last_wp_f = path->path.path_f[path->path_idx]; // store last wp - return FALSE; // end of path + return false; // end of path } // normal case struct EnuCoor_f from_f = path->path.path_f[path->path_idx]; @@ -135,7 +135,7 @@ static inline bool_t mission_nav_path(struct _mission_path *path) if (nav_approaching_xy(to_f.x, to_f.y, from_f.x, from_f.y, CARROT)) { path->path_idx++; // go to next segment } - return TRUE; + return true; } @@ -145,10 +145,10 @@ int mission_run() struct _mission_element *el = NULL; if ((el = mission_get()) == NULL) { // TODO do something special like a waiting circle before ending the mission ? - return FALSE; // end of mission + return false; // end of mission } - bool_t el_running = FALSE; + bool el_running = false; switch (el->type) { case MissionWP: el_running = mission_nav_wp(&(el->element.mission_wp)); @@ -178,5 +178,5 @@ int mission_run() mission.current_idx = (mission.current_idx + 1) % MISSION_ELEMENT_NB; } - return TRUE; + return true; } diff --git a/sw/airborne/modules/mission/mission_rotorcraft_nav.c b/sw/airborne/modules/mission/mission_rotorcraft_nav.c index 4b6db2f238..ff918d5701 100644 --- a/sw/airborne/modules/mission/mission_rotorcraft_nav.c +++ b/sw/airborne/modules/mission/mission_rotorcraft_nav.c @@ -38,11 +38,11 @@ #define BUFFER_ZONE_DIST 10 /// Utility function: converts lla (int) to local point (float) -bool_t mission_point_of_lla(struct EnuCoor_f *point, struct LlaCoor_i *lla) +bool mission_point_of_lla(struct EnuCoor_f *point, struct LlaCoor_i *lla) { // return FALSE if there is no valid local coordinate system if (!state.ned_initialized_i) { - return FALSE; + return false; } // change geoid alt to ellipsoid alt @@ -72,11 +72,11 @@ bool_t mission_point_of_lla(struct EnuCoor_f *point, struct LlaCoor_i *lla) VECT2_SUM(*point, home, vect_from_home); point->z = tmp_enu_point_f.z; - return TRUE; + return true; } //Function that converts target wp from float point versions to int -bool_t mission_element_convert(struct _mission_element *el) +bool mission_element_convert(struct _mission_element *el) { struct _mission_element tmp_element = *el; uint8_t i = 0; @@ -99,11 +99,11 @@ bool_t mission_element_convert(struct _mission_element *el) break; default: // invalid element type - return FALSE; + return false; break; } - return TRUE; + return true; } // navigation time step @@ -114,7 +114,7 @@ struct EnuCoor_i last_mission_wp = { 0., 0., 0. }; /** Navigation function to a single waypoint */ -static inline bool_t mission_nav_wp(struct _mission_element *el) +static inline bool mission_nav_wp(struct _mission_element *el) { struct EnuCoor_i *target_wp = &(el->element.mission_wp.wp.wp_i); @@ -123,8 +123,8 @@ static inline bool_t mission_nav_wp(struct _mission_element *el) last_mission_wp = *target_wp; if (el->duration > 0.) { - if (nav_check_wp_time(target_wp, el->duration)) { return FALSE; } - } else { return FALSE; } + if (nav_check_wp_time(target_wp, el->duration)) { return false; } + } else { return false; } } //Go to Mission Waypoint @@ -133,12 +133,12 @@ static inline bool_t mission_nav_wp(struct _mission_element *el) NavVerticalAutoThrottleMode(RadOfDeg(0.000000)); NavVerticalAltitudeMode(POS_FLOAT_OF_BFP(target_wp->z), 0.); - return TRUE; + return true; } /** Navigation function on a circle */ -static inline bool_t mission_nav_circle(struct _mission_element *el) +static inline bool mission_nav_circle(struct _mission_element *el) { struct EnuCoor_i *center_wp = &(el->element.mission_circle.center.center_i); int32_t radius = el->element.mission_circle.radius; @@ -150,15 +150,15 @@ static inline bool_t mission_nav_circle(struct _mission_element *el) NavVerticalAltitudeMode(POS_FLOAT_OF_BFP(center_wp->z), 0.); if (el->duration > 0. && mission.element_time >= el->duration) { - return FALSE; + return false; } - return TRUE; + return true; } /** Navigation function along a segment */ -static inline bool_t mission_nav_segment(struct _mission_element *el) +static inline bool mission_nav_segment(struct _mission_element *el) { struct EnuCoor_i *from_wp = &(el->element.mission_segment.from.from_i); struct EnuCoor_i *to_wp = &(el->element.mission_segment.to.to_i); @@ -168,8 +168,8 @@ static inline bool_t mission_nav_segment(struct _mission_element *el) last_mission_wp = *to_wp; if (el->duration > 0.) { - if (nav_check_wp_time(to_wp, el->duration)) { return FALSE; } - } else { return FALSE; } + if (nav_check_wp_time(to_wp, el->duration)) { return false; } + } else { return false; } } //Route Between from-to @@ -178,16 +178,16 @@ static inline bool_t mission_nav_segment(struct _mission_element *el) NavVerticalAutoThrottleMode(RadOfDeg(0.0)); NavVerticalAltitudeMode(POS_FLOAT_OF_BFP(to_wp->z), 0.); - return TRUE; + return true; } /** Navigation function along a path */ -static inline bool_t mission_nav_path(struct _mission_element *el) +static inline bool mission_nav_path(struct _mission_element *el) { if (el->element.mission_path.nb == 0) { - return FALSE; // nothing to do + return false; // nothing to do } if (el->element.mission_path.path_idx == 0) { //first wp of path @@ -215,9 +215,9 @@ static inline bool_t mission_nav_path(struct _mission_element *el) nav_route(from_wp, to_wp); NavVerticalAutoThrottleMode(RadOfDeg(0.0)); NavVerticalAltitudeMode(POS_FLOAT_OF_BFP(from_wp->z), 0.); - } else { return FALSE; } //end of path + } else { return false; } //end of path - return TRUE; + return true; } int mission_run() @@ -227,10 +227,10 @@ int mission_run() if ((el = mission_get()) == NULL) { mission.element_time = 0; mission.current_idx = 0; - return FALSE; // end of mission + return false; // end of mission } - bool_t el_running = FALSE; + bool el_running = false; switch (el->type) { case MissionWP: el_running = mission_nav_wp(el); @@ -258,6 +258,6 @@ int mission_run() // go to next element mission.current_idx = (mission.current_idx + 1) % MISSION_ELEMENT_NB; } - return TRUE; + return true; } diff --git a/sw/airborne/modules/multi/formation.c b/sw/airborne/modules/multi/formation.c index fdcb7ec12e..8f7482808e 100644 --- a/sw/airborne/modules/multi/formation.c +++ b/sw/airborne/modules/multi/formation.c @@ -78,18 +78,18 @@ int formation_init(void) form_mode = FORM_MODE; old_cruise = V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE; old_alt = GROUND_ALT + SECURITY_HEIGHT; - return FALSE; + return false; } int add_slot(uint8_t _id, float slot_e, float slot_n, float slot_a) { - if (_id != AC_ID && the_acs_id[_id] == 0) { return FALSE; } // no info for this AC + if (_id != AC_ID && the_acs_id[_id] == 0) { return false; } // no info for this AC DOWNLINK_SEND_FORMATION_SLOT_TM(DefaultChannel, DefaultDevice, &_id, &form_mode, &slot_e, &slot_n, &slot_a); formation[the_acs_id[_id]].status = IDLE; formation[the_acs_id[_id]].east = slot_e; formation[the_acs_id[_id]].north = slot_n; formation[the_acs_id[_id]].alt = slot_a; - return FALSE; + return false; } int start_formation(void) @@ -104,7 +104,7 @@ int start_formation(void) // store current cruise and alt old_cruise = v_ctl_auto_throttle_cruise_throttle; old_alt = nav_altitude; - return FALSE; + return false; } int stop_formation(void) @@ -121,7 +121,7 @@ int stop_formation(void) old_cruise = V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE; nav_altitude = old_alt; old_alt = GROUND_ALT + SECURITY_HEIGHT; - return FALSE; + return false; } @@ -159,14 +159,14 @@ int formation_flight(void) &formation[the_acs_id[AC_ID]].north, &formation[the_acs_id[AC_ID]].alt); } - if (formation[the_acs_id[AC_ID]].status != ACTIVE) { return FALSE; } // AC not ready + if (formation[the_acs_id[AC_ID]].status != ACTIVE) { return false; } // AC not ready // get leader info struct ac_info_ * leader = get_ac_info(leader_id); if (formation[the_acs_id[leader_id]].status == UNSET || formation[the_acs_id[leader_id]].status == IDLE) { // leader not ready or not in formation - return FALSE; + return false; } // compute slots in the right reference frame @@ -255,7 +255,7 @@ int formation_flight(void) Bound(cruise, V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE, V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE); v_ctl_auto_throttle_cruise_throttle = cruise; } - return TRUE; + return true; } void formation_pre_call(void) diff --git a/sw/airborne/modules/multi/potential.c b/sw/airborne/modules/multi/potential.c index de7b15d14e..849c4b3282 100644 --- a/sw/airborne/modules/multi/potential.c +++ b/sw/airborne/modules/multi/potential.c @@ -95,7 +95,7 @@ int potential_task(void) ++nb; } } - if (nb == 0) { return TRUE; } + if (nb == 0) { return true; } //potential_force.east /= nb; //potential_force.north /= nb; //potential_force.alt /= nb; @@ -126,6 +126,6 @@ int potential_task(void) DOWNLINK_SEND_POTENTIAL(DefaultChannel, DefaultDevice, &potential_force.east, &potential_force.north, &potential_force.alt, &potential_force.speed, &potential_force.climb); - return TRUE; + return true; } diff --git a/sw/airborne/modules/nav/nav_bungee_takeoff.c b/sw/airborne/modules/nav/nav_bungee_takeoff.c index f93a46c282..eced90b37e 100644 --- a/sw/airborne/modules/nav/nav_bungee_takeoff.c +++ b/sw/airborne/modules/nav/nav_bungee_takeoff.c @@ -142,7 +142,7 @@ static void compute_points_from_bungee(void) VECT2_SUM(throttle_point, bungee_point, throttle_point); } -bool_t nav_bungee_takeoff_setup(uint8_t bungee_wp) +bool nav_bungee_takeoff_setup(uint8_t bungee_wp) { // Store bungee point (from WP id, altitude should be ground alt) // FIXME use current alt instead ? @@ -155,10 +155,10 @@ bool_t nav_bungee_takeoff_setup(uint8_t bungee_wp) CTakeoffStatus = Launch; kill_throttle = 1; - return FALSE; + return false; } -bool_t nav_bungee_takeoff_run(void) +bool nav_bungee_takeoff_run(void) { float cross = 0.; @@ -208,15 +208,15 @@ bool_t nav_bungee_takeoff_run(void) #endif ) { CTakeoffStatus = Finished; - return FALSE; + return false; } else { - return TRUE; + return true; } break; default: // Invalid status or Finished, end function - return FALSE; + return false; } - return TRUE; + return true; } diff --git a/sw/airborne/modules/nav/nav_bungee_takeoff.h b/sw/airborne/modules/nav/nav_bungee_takeoff.h index d7c9c50b6e..70beeebaca 100644 --- a/sw/airborne/modules/nav/nav_bungee_takeoff.h +++ b/sw/airborne/modules/nav/nav_bungee_takeoff.h @@ -69,7 +69,7 @@ * @param[in] bungee_wp Waypoint ID correcponding to the bungee location * @return always false, since called only once by the flight plan */ -extern bool_t nav_bungee_takeoff_setup(uint8_t bungee_wp); +extern bool nav_bungee_takeoff_setup(uint8_t bungee_wp); /** Bungee takeoff run function * @@ -77,7 +77,7 @@ extern bool_t nav_bungee_takeoff_setup(uint8_t bungee_wp); * * @return true until the takeoff procedure ends */ -extern bool_t nav_bungee_takeoff_run(void); +extern bool nav_bungee_takeoff_run(void); #endif diff --git a/sw/airborne/modules/nav/nav_catapult.c b/sw/airborne/modules/nav/nav_catapult.c index bf01285cd8..45e2ebe824 100644 --- a/sw/airborne/modules/nav/nav_catapult.c +++ b/sw/airborne/modules/nav/nav_catapult.c @@ -51,7 +51,7 @@ #include "subsystems/datalink/datalink.h" -static bool_t nav_catapult_armed = FALSE; +static bool nav_catapult_armed = false; static uint16_t nav_catapult_launch = 0; #ifndef NAV_CATAPULT_ACCELERATION_THRESHOLD @@ -94,7 +94,7 @@ static float nav_catapult_y = 0; void nav_catapult_highrate_module(void) { - bool_t reset_lauch; + bool reset_lauch; // Only run when if (nav_catapult_armed) { if (nav_catapult_launch < nav_catapult_heading_delay * NAV_CATAPULT_HIGHRATE_MODULE_FREQ) { @@ -131,18 +131,18 @@ void nav_catapult_highrate_module(void) //############################################################################################### // Code that runs in 4Hz Nav -bool_t nav_catapult_setup(void) +bool nav_catapult_setup(void) { - nav_catapult_armed = TRUE; + nav_catapult_armed = true; nav_catapult_launch = 0; - return FALSE; + return false; } -bool_t nav_catapult_run(uint8_t _to, uint8_t _climb) +bool nav_catapult_run(uint8_t _to, uint8_t _climb) { float alt = WaypointAlt(_climb); @@ -191,15 +191,15 @@ bool_t nav_catapult_run(uint8_t _to, uint8_t _climb) } - return TRUE; + return true; } -bool_t nav_select_touch_down(uint8_t _td) +bool nav_select_touch_down(uint8_t _td) { WaypointX(_td) = stateGetPositionEnu_f()->x; WaypointY(_td) = stateGetPositionEnu_f()->y; WaypointAlt(_td) = stateGetPositionUtm_f()->alt; - return FALSE; + return false; } diff --git a/sw/airborne/modules/nav/nav_catapult.h b/sw/airborne/modules/nav/nav_catapult.h index 08ef05f0d8..4074c867cb 100644 --- a/sw/airborne/modules/nav/nav_catapult.h +++ b/sw/airborne/modules/nav/nav_catapult.h @@ -42,12 +42,12 @@ extern float nav_catapult_initial_throttle; void nav_catapult_highrate_module(void); // Flightplan Code -extern bool_t nav_catapult_setup(void); +extern bool nav_catapult_setup(void); -extern bool_t nav_catapult_arm(void); -extern bool_t nav_catapult_run(uint8_t _to, uint8_t _climb); -extern bool_t nav_catapult_disarm(void); +extern bool nav_catapult_arm(void); +extern bool nav_catapult_run(uint8_t _to, uint8_t _climb); +extern bool nav_catapult_disarm(void); -extern bool_t nav_select_touch_down(uint8_t _td); +extern bool nav_select_touch_down(uint8_t _td); #endif diff --git a/sw/airborne/modules/nav/nav_cube.c b/sw/airborne/modules/nav/nav_cube.c index cd1cb1e05c..916f5734eb 100644 --- a/sw/airborne/modules/nav/nav_cube.c +++ b/sw/airborne/modules/nav/nav_cube.c @@ -36,7 +36,7 @@ struct NavCube nav_cube; -bool_t nav_cube_setup(uint8_t center, uint8_t tb, uint8_t te) +bool nav_cube_setup(uint8_t center, uint8_t tb, uint8_t te) { int32_t j, start_bx, start_by, start_bz, start_ex, start_ey, start_ez; @@ -138,19 +138,19 @@ bool_t nav_cube_setup(uint8_t center, uint8_t tb, uint8_t te) nav_cube.nline_x--; nav_cube.nline_z--; - return FALSE; + return false; } -bool_t nav_cube_run(int8_t j, int8_t i, +bool nav_cube_run(int8_t j, int8_t i, uint8_t dest_b, uint8_t dest_e, uint8_t src_b, uint8_t src_e) { if (i > nav_cube.nline_x) { - return FALSE; + return false; } if (j > nav_cube.nline_z) { - return FALSE; + return false; } waypoints[dest_b].x = waypoints[src_b + i].x; @@ -169,5 +169,5 @@ bool_t nav_cube_run(int8_t j, int8_t i, waypoints[dest_e].a = ground_alt + SECURITY_HEIGHT; } - return FALSE; + return false; } diff --git a/sw/airborne/modules/nav/nav_cube.h b/sw/airborne/modules/nav/nav_cube.h index 590cfb7fed..54767604d8 100644 --- a/sw/airborne/modules/nav/nav_cube.h +++ b/sw/airborne/modules/nav/nav_cube.h @@ -122,8 +122,8 @@ struct NavCube { extern struct NavCube nav_cube; -extern bool_t nav_cube_setup(uint8_t turb, uint8_t tb, uint8_t te); -bool_t nav_cube_run(int8_t j, int8_t i, +extern bool nav_cube_setup(uint8_t turb, uint8_t tb, uint8_t te); +bool nav_cube_run(int8_t j, int8_t i, uint8_t dest_b, uint8_t dest_e, uint8_t src_b, uint8_t src_e); diff --git a/sw/airborne/modules/nav/nav_drop.c b/sw/airborne/modules/nav/nav_drop.c index aa0573ef1c..5e6c6048f8 100644 --- a/sw/airborne/modules/nav/nav_drop.c +++ b/sw/airborne/modules/nav/nav_drop.c @@ -191,7 +191,7 @@ unit_t nav_drop_shoot(void) } /* Compute start and end waypoints to be aligned on w1-w2 */ -bool_t compute_alignment(uint8_t w1, uint8_t w2, uint8_t wp_before, uint8_t wp_after, float d_before, float d_after) +bool compute_alignment(uint8_t w1, uint8_t w2, uint8_t wp_before, uint8_t wp_after, float d_before, float d_after) { float x_0 = waypoints[w2].x - waypoints[w1].x; float y_0 = waypoints[w2].y - waypoints[w1].y; @@ -206,7 +206,7 @@ bool_t compute_alignment(uint8_t w1, uint8_t w2, uint8_t wp_before, uint8_t wp_a waypoints[wp_after].x = waypoints[w2].x + d_after * x_0; waypoints[wp_after].y = waypoints[w2].y + d_after * y_0; - return FALSE; + return false; } #endif /* WP_RELEASE */ diff --git a/sw/airborne/modules/nav/nav_drop.h b/sw/airborne/modules/nav/nav_drop.h index 0f873501a1..78e62a3be7 100644 --- a/sw/airborne/modules/nav/nav_drop.h +++ b/sw/airborne/modules/nav/nav_drop.h @@ -37,7 +37,7 @@ extern unit_t nav_drop_compute_approach(uint8_t wp_target, uint8_t wp_start, uin extern unit_t nav_drop_update_release(uint8_t wp_target); extern unit_t nav_drop_shoot(void); extern float nav_drop_trigger_delay, nav_drop_start_qdr; -extern bool_t compute_alignment(uint8_t w1, uint8_t w2, uint8_t start, uint8_t end, float d_before, float d_after); +extern bool compute_alignment(uint8_t w1, uint8_t w2, uint8_t start, uint8_t end, float d_before, float d_after); #define NavDropComputeApproach(_target, _start, _radius) nav_drop_compute_approach(_target, _start, _radius) #define NavDropUpdateRelease(_wp) nav_drop_update_release(_wp) diff --git a/sw/airborne/modules/nav/nav_flower.c b/sw/airborne/modules/nav/nav_flower.c index 4653d3dffd..4ac8ff54ea 100644 --- a/sw/airborne/modules/nav/nav_flower.c +++ b/sw/airborne/modules/nav/nav_flower.c @@ -57,7 +57,7 @@ static float Flowerradius; static uint8_t Center; static uint8_t Edge; -bool_t nav_flower_setup(uint8_t CenterWP, uint8_t EdgeWP) +bool nav_flower_setup(uint8_t CenterWP, uint8_t EdgeWP) { Center = CenterWP; Edge = EdgeWP; @@ -85,20 +85,20 @@ bool_t nav_flower_setup(uint8_t CenterWP, uint8_t EdgeWP) CircleX = 0; CircleY = 0; - return FALSE; + return false; } -bool_t nav_flower_run(void) +bool nav_flower_run(void) { TransCurrentX = stateGetPositionEnu_f()->x - WaypointX(Center); TransCurrentY = stateGetPositionEnu_f()->y - WaypointY(Center); DistanceFromCenter = sqrtf(TransCurrentX * TransCurrentX + TransCurrentY * TransCurrentY); - bool_t InCircle = TRUE; + bool InCircle = true; float CircleTheta; if (DistanceFromCenter > Flowerradius) { - InCircle = FALSE; + InCircle = false; } NavVerticalAutoThrottleMode(0); /* No pitch */ @@ -150,5 +150,5 @@ bool_t nav_flower_run(void) default: break; } - return TRUE; + return true; } diff --git a/sw/airborne/modules/nav/nav_flower.h b/sw/airborne/modules/nav/nav_flower.h index 527f0a551e..520e70e359 100644 --- a/sw/airborne/modules/nav/nav_flower.h +++ b/sw/airborne/modules/nav/nav_flower.h @@ -29,7 +29,7 @@ #include "std.h" -extern bool_t nav_flower_run(void); -extern bool_t nav_flower_setup(uint8_t CenterWP, uint8_t EdgeWP); +extern bool nav_flower_run(void); +extern bool nav_flower_setup(uint8_t CenterWP, uint8_t EdgeWP); #endif diff --git a/sw/airborne/modules/nav/nav_gls.c b/sw/airborne/modules/nav/nav_gls.c index 6bd541c411..f337479c16 100644 --- a/sw/airborne/modules/nav/nav_gls.c +++ b/sw/airborne/modules/nav/nav_gls.c @@ -54,7 +54,7 @@ float app_angle; float app_intercept_rate; float app_distance_af_sd; -bool_t init = TRUE; +bool init = true; #ifndef APP_TARGET_SPEED #define APP_TARGET_SPEED NOMINAL_AIRSPEED @@ -79,7 +79,7 @@ float sd_intercept; float sd_tod_x; float sd_tod_y; -static inline bool_t gls_compute_TOD(uint8_t _af, uint8_t _sd, uint8_t _tod, uint8_t _td) +static inline bool gls_compute_TOD(uint8_t _af, uint8_t _sd, uint8_t _tod, uint8_t _td) { if ((WaypointX(_af) == WaypointX(_td)) && (WaypointY(_af) == WaypointY(_td))) { @@ -128,14 +128,14 @@ static inline bool_t gls_compute_TOD(uint8_t _af, uint8_t _sd, uint8_t _tod, uin WaypointX(_af) = WaypointX(_sd) + td_af_x / td_af * app_distance_af_sd; WaypointY(_af) = WaypointY(_sd) + td_af_y / td_af * app_distance_af_sd; } - return FALSE; + return false; } /* end of gls_copute_TOD */ -bool_t gls_start(uint8_t _af, uint8_t _sd, uint8_t _tod, uint8_t _td) +bool gls_start(uint8_t _af, uint8_t _sd, uint8_t _tod, uint8_t _td) { - init = TRUE; + init = true; //struct FloatVect2* wind = stateGetHorizontalWindspeed_f(); //float wind_additional = sqrtf(wind->x*wind->x + wind->y*wind->y); // should be gusts only! @@ -152,11 +152,11 @@ bool_t gls_start(uint8_t _af, uint8_t _sd, uint8_t _tod, uint8_t _td) // calculate Top Of Decent gls_compute_TOD(_af, _sd, _tod, _td); - return FALSE; + return false; } /* end of gls_init() */ -bool_t gls_run(uint8_t _af, uint8_t _sd, uint8_t _tod, uint8_t _td) +bool gls_run(uint8_t _af, uint8_t _sd, uint8_t _tod, uint8_t _td) { @@ -165,7 +165,7 @@ bool_t gls_run(uint8_t _af, uint8_t _sd, uint8_t _tod, uint8_t _td) #if USE_AIRSPEED v_ctl_auto_airspeed_setpoint = target_speed; #endif - init = FALSE; + init = false; } // calculate distance tod_td @@ -229,5 +229,5 @@ bool_t gls_run(uint8_t _af, uint8_t _sd, uint8_t _tod, uint8_t _td) NavVerticalAutoThrottleMode(0); // throttle mode NavSegment(_af, _td); // horizontal mode (stay on localiser) - return TRUE; + return true; } // end of gls() diff --git a/sw/airborne/modules/nav/nav_gls.h b/sw/airborne/modules/nav/nav_gls.h index 126cab0034..8d5db00be1 100644 --- a/sw/airborne/modules/nav/nav_gls.h +++ b/sw/airborne/modules/nav/nav_gls.h @@ -30,7 +30,7 @@ #include "std.h" #include "paparazzi.h" -extern bool_t gls_start(uint8_t _af, uint8_t _sd, uint8_t _tod, uint8_t _td); -extern bool_t gls_run(uint8_t _af, uint8_t _sd, uint8_t _tod, uint8_t _td); +extern bool gls_start(uint8_t _af, uint8_t _sd, uint8_t _tod, uint8_t _td); +extern bool gls_run(uint8_t _af, uint8_t _sd, uint8_t _tod, uint8_t _td); #endif // NAV_GLS_H diff --git a/sw/airborne/modules/nav/nav_line.c b/sw/airborne/modules/nav/nav_line.c index 3569638aff..6a19a861ef 100644 --- a/sw/airborne/modules/nav/nav_line.c +++ b/sw/airborne/modules/nav/nav_line.c @@ -33,13 +33,13 @@ enum line_status { LR12, LQC21, LTC2, LQC22, LR21, LQC12, LTC1, LQC11 }; static enum line_status line_status; -bool_t nav_line_setup(void) +bool nav_line_setup(void) { line_status = LR12; - return FALSE; + return false; } -bool_t nav_line_run(uint8_t l1, uint8_t l2, float radius) +bool nav_line_run(uint8_t l1, uint8_t l2, float radius) { radius = fabs(radius); float alt = waypoints[l1].a; @@ -146,7 +146,7 @@ bool_t nav_line_run(uint8_t l1, uint8_t l2, float radius) } break; default: /* Should not occur !!! End the pattern */ - return FALSE; + return false; } - return TRUE; /* This pattern never ends */ + return true; /* This pattern never ends */ } diff --git a/sw/airborne/modules/nav/nav_line.h b/sw/airborne/modules/nav/nav_line.h index a255fa58b6..a157516359 100644 --- a/sw/airborne/modules/nav/nav_line.h +++ b/sw/airborne/modules/nav/nav_line.h @@ -30,7 +30,7 @@ #include "std.h" -extern bool_t nav_line_setup(void); -extern bool_t nav_line_run(uint8_t wp1, uint8_t wp2, float radius); +extern bool nav_line_setup(void); +extern bool nav_line_run(uint8_t wp1, uint8_t wp2, float radius); #endif /* NAV_LINE_H */ diff --git a/sw/airborne/modules/nav/nav_line_border.c b/sw/airborne/modules/nav/nav_line_border.c index 52c846e802..57e3d93bd3 100644 --- a/sw/airborne/modules/nav/nav_line_border.c +++ b/sw/airborne/modules/nav/nav_line_border.c @@ -37,13 +37,13 @@ enum line_border_status { LR12, LQC21, LTC2, LQC22, LR21, LQC12, LTC1, LQC11 }; static enum line_border_status line_border_status; -bool_t nav_line_border_setup(void) +bool nav_line_border_setup(void) { line_border_status = LR12; - return FALSE; + return false; } -bool_t nav_line_border_run(uint8_t l1, uint8_t l2, float radius) +bool nav_line_border_run(uint8_t l1, uint8_t l2, float radius) { radius = fabs(radius); float alt = waypoints[l1].a; @@ -133,7 +133,7 @@ bool_t nav_line_border_run(uint8_t l1, uint8_t l2, float radius) break; default: /* Should not occur !!! End the pattern */ - return FALSE; + return false; } - return TRUE; /* This pattern never ends */ + return true; /* This pattern never ends */ } diff --git a/sw/airborne/modules/nav/nav_line_border.h b/sw/airborne/modules/nav/nav_line_border.h index fce937c0e4..804c34c128 100644 --- a/sw/airborne/modules/nav/nav_line_border.h +++ b/sw/airborne/modules/nav/nav_line_border.h @@ -29,7 +29,7 @@ #include "std.h" -extern bool_t nav_line_border_setup(void); -extern bool_t nav_line_border_run(uint8_t wp1, uint8_t wp2, float radius); +extern bool nav_line_border_setup(void); +extern bool nav_line_border_run(uint8_t wp1, uint8_t wp2, float radius); #endif /* NAV_LINE_BORDER_H */ diff --git a/sw/airborne/modules/nav/nav_line_osam.c b/sw/airborne/modules/nav/nav_line_osam.c index 2dbc6be484..410dc42972 100644 --- a/sw/airborne/modules/nav/nav_line_osam.c +++ b/sw/airborne/modules/nav/nav_line_osam.c @@ -68,7 +68,7 @@ static void TranslateAndRotateFromWorld(struct Point2D *p, float Zrot, float tra } -bool_t nav_line_osam_run(uint8_t From_WP, uint8_t To_WP, float radius, float Space_Before, float Space_After) +bool nav_line_osam_run(uint8_t From_WP, uint8_t To_WP, float radius, float Space_Before, float Space_After) { struct Point2D V; struct Point2D P; @@ -161,19 +161,19 @@ bool_t nav_line_osam_run(uint8_t From_WP, uint8_t To_WP, float radius, float Spa case FLFinished: CFLStatus = FLInitialize; nav_init_stage(); - return FALSE; + return false; break; default: break; } - return TRUE; + return true; } static uint8_t FLBlockCount = 0; -bool_t nav_line_osam_block_run(uint8_t First_WP, uint8_t Last_WP, float radius, float Space_Before, float Space_After) +bool nav_line_osam_block_run(uint8_t First_WP, uint8_t Last_WP, float radius, float Space_Before, float Space_After) { if (First_WP < Last_WP) { nav_line_osam_run(First_WP + FLBlockCount, First_WP + FLBlockCount + 1, radius, Space_Before, Space_After); @@ -182,7 +182,7 @@ bool_t nav_line_osam_block_run(uint8_t First_WP, uint8_t Last_WP, float radius, FLBlockCount++; if (First_WP + FLBlockCount >= Last_WP) { FLBlockCount = 0; - return FALSE; + return false; } } } else { @@ -192,10 +192,10 @@ bool_t nav_line_osam_block_run(uint8_t First_WP, uint8_t Last_WP, float radius, FLBlockCount++; if (First_WP - FLBlockCount <= Last_WP) { FLBlockCount = 0; - return FALSE; + return false; } } } - return TRUE; + return true; } diff --git a/sw/airborne/modules/nav/nav_line_osam.h b/sw/airborne/modules/nav/nav_line_osam.h index 70dda5297f..d6ae48cbf1 100644 --- a/sw/airborne/modules/nav/nav_line_osam.h +++ b/sw/airborne/modules/nav/nav_line_osam.h @@ -29,8 +29,8 @@ #include "std.h" -extern bool_t nav_line_osam_run(uint8_t From_WP, uint8_t To_WP, float radius, float Space_Before, float Space_After); -extern bool_t nav_line_osam_block_run(uint8_t First_WP, uint8_t Last_WP, float radius, float Space_Before, +extern bool nav_line_osam_run(uint8_t From_WP, uint8_t To_WP, float radius, float Space_Before, float Space_After); +extern bool nav_line_osam_block_run(uint8_t First_WP, uint8_t Last_WP, float radius, float Space_Before, float Space_After); #endif diff --git a/sw/airborne/modules/nav/nav_smooth.c b/sw/airborne/modules/nav/nav_smooth.c index 3439012580..33fd8a371c 100644 --- a/sw/airborne/modules/nav/nav_smooth.c +++ b/sw/airborne/modules/nav/nav_smooth.c @@ -46,7 +46,7 @@ static float u_a_ca_x, u_a_ca_y; static uint8_t ground_speed_timer; /* D is the current position */ -bool_t snav_init(uint8_t a, float desired_course_rad, float radius) +bool snav_init(uint8_t a, float desired_course_rad, float radius) { wp_a = a; radius = fabs(radius); @@ -114,11 +114,11 @@ bool_t snav_init(uint8_t a, float desired_course_rad, float radius) wp_ta.a = wp_ca.a; ground_speed_timer = 0; - return FALSE; + return false; } -bool_t snav_circle1(void) +bool snav_circle1(void) { /* circle around CD until QDR_TD */ NavVerticalAutoThrottleMode(0); /* No pitch */ @@ -127,7 +127,7 @@ bool_t snav_circle1(void) return (! NavQdrCloseTo(DegOfRad(qdr_td))); } -bool_t snav_route(void) +bool snav_route(void) { /* Straight route from TD to TA */ NavVerticalAutoThrottleMode(0); /* No pitch */ @@ -137,7 +137,7 @@ bool_t snav_route(void) return (! nav_approaching_xy(wp_ta.x, wp_ta.y, wp_td.x, wp_td.y, CARROT)); } -bool_t snav_circle2(void) +bool snav_circle2(void) { /* circle around CA until QDR_A */ NavVerticalAutoThrottleMode(0); /* No pitch */ @@ -176,7 +176,7 @@ static void compute_ground_speed(float airspeed, } /* Adjusting a circle around CA, tangent in A, to end at snav_desired_tow */ -bool_t snav_on_time(float nominal_radius) +bool snav_on_time(float nominal_radius) { nominal_radius = fabs(nominal_radius); diff --git a/sw/airborne/modules/nav/nav_smooth.h b/sw/airborne/modules/nav/nav_smooth.h index cfece53816..ad70a3d798 100644 --- a/sw/airborne/modules/nav/nav_smooth.h +++ b/sw/airborne/modules/nav/nav_smooth.h @@ -34,10 +34,10 @@ extern float snav_desired_tow; /* time of week, s */ -bool_t snav_init(uint8_t wp_a, float desired_course_rad, float radius); -bool_t snav_circle1(void); -bool_t snav_route(void); -bool_t snav_circle2(void); -bool_t snav_on_time(float radius); +bool snav_init(uint8_t wp_a, float desired_course_rad, float radius); +bool snav_circle1(void); +bool snav_route(void); +bool snav_circle2(void); +bool snav_on_time(float radius); #endif // SNAV_H diff --git a/sw/airborne/modules/nav/nav_spiral.c b/sw/airborne/modules/nav/nav_spiral.c index f42394c846..9999812744 100644 --- a/sw/airborne/modules/nav/nav_spiral.c +++ b/sw/airborne/modules/nav/nav_spiral.c @@ -47,7 +47,7 @@ struct NavSpiral nav_spiral; -bool_t nav_spiral_setup(uint8_t center_wp, uint8_t edge_wp, float radius_start, float radius_inc, float segments) +bool nav_spiral_setup(uint8_t center_wp, uint8_t edge_wp, float radius_start, float radius_inc, float segments) { VECT2_COPY(nav_spiral.center, waypoints[center_wp]); // center of the helix nav_spiral.center.z = waypoints[center_wp].a; @@ -81,10 +81,10 @@ bool_t nav_spiral_setup(uint8_t center_wp, uint8_t edge_wp, float radius_start, if (nav_spiral.dist_from_center > nav_spiral.radius) { nav_spiral.status = SpiralOutside; } - return FALSE; + return false; } -bool_t nav_spiral_run(void) +bool nav_spiral_run(void) { struct EnuCoor_f pos_enu = *stateGetPositionEnu_f(); @@ -166,5 +166,5 @@ bool_t nav_spiral_run(void) NavVerticalAutoThrottleMode(0.); /* No pitch */ NavVerticalAltitudeMode(nav_spiral.center.z, 0.); /* No preclimb */ - return TRUE; + return true; } diff --git a/sw/airborne/modules/nav/nav_spiral.h b/sw/airborne/modules/nav/nav_spiral.h index 51ddf0ec11..ee6c3dd2c1 100644 --- a/sw/airborne/modules/nav/nav_spiral.h +++ b/sw/airborne/modules/nav/nav_spiral.h @@ -51,8 +51,8 @@ struct NavSpiral { extern struct NavSpiral nav_spiral; -extern bool_t nav_spiral_run(void); -extern bool_t nav_spiral_setup(uint8_t center_wp, uint8_t edge_wp, float radius_start, +extern bool nav_spiral_run(void); +extern bool nav_spiral_setup(uint8_t center_wp, uint8_t edge_wp, float radius_start, float radius_inc, float segments); #endif // NAV_SPIRAL_H diff --git a/sw/airborne/modules/nav/nav_survey_disc.c b/sw/airborne/modules/nav/nav_survey_disc.c index 9ec01faa27..ea7bcb2131 100644 --- a/sw/airborne/modules/nav/nav_survey_disc.c +++ b/sw/airborne/modules/nav/nav_survey_disc.c @@ -46,17 +46,17 @@ struct DiscSurvey { static struct DiscSurvey disc_survey; -bool_t nav_survey_disc_setup(float grid) +bool nav_survey_disc_setup(float grid) { nav_survey_shift = grid; disc_survey.status = DOWNWIND; disc_survey.sign = 1; disc_survey.c1.x = stateGetPositionEnu_f()->x; disc_survey.c1.y = stateGetPositionEnu_f()->y; - return FALSE; + return false; } -bool_t nav_survey_disc_run(uint8_t center_wp, float radius) +bool nav_survey_disc_run(uint8_t center_wp, float radius) { struct FloatVect2 *wind = stateGetHorizontalWindspeed_f(); float wind_dir = atan2(wind->x, wind->y) + M_PI; @@ -120,5 +120,5 @@ bool_t nav_survey_disc_run(uint8_t center_wp, float radius) NavVerticalAutoThrottleMode(0.); /* No pitch */ NavVerticalAltitudeMode(WaypointAlt(center_wp), 0.); /* No preclimb */ - return TRUE; + return true; } diff --git a/sw/airborne/modules/nav/nav_survey_disc.h b/sw/airborne/modules/nav/nav_survey_disc.h index 385268ce81..6040383050 100644 --- a/sw/airborne/modules/nav/nav_survey_disc.h +++ b/sw/airborne/modules/nav/nav_survey_disc.h @@ -29,7 +29,7 @@ #include "std.h" -extern bool_t nav_survey_disc_setup(float grid); -extern bool_t nav_survey_disc_run(uint8_t c, float radius); +extern bool nav_survey_disc_setup(float grid); +extern bool nav_survey_disc_run(uint8_t c, float radius); #endif /* NAV_SURVEY_DISC_H */ diff --git a/sw/airborne/modules/nav/nav_survey_poly_osam.c b/sw/airborne/modules/nav/nav_survey_poly_osam.c index 4edd3acfcd..d8aa839ed1 100644 --- a/sw/airborne/modules/nav/nav_survey_poly_osam.c +++ b/sw/airborne/modules/nav/nav_survey_poly_osam.c @@ -69,9 +69,9 @@ uint8_t Poly_Size = POLY_OSAM_DEFAULT_SIZE; float Poly_Sweep = POLY_OSAM_DEFAULT_SWEEP; -bool_t use_full_circle = POLY_OSAM_USE_FULL_CIRCLE; +bool use_full_circle = POLY_OSAM_USE_FULL_CIRCLE; -bool_t nav_survey_poly_osam_setup_towards(uint8_t FirstWP, uint8_t Size, float Sweep, int SecondWP) +bool nav_survey_poly_osam_setup_towards(uint8_t FirstWP, uint8_t Size, float Sweep, int SecondWP) { float dx = waypoints[SecondWP].x - waypoints[FirstWP].x; float dy = waypoints[SecondWP].y - waypoints[FirstWP].y; @@ -127,7 +127,7 @@ uint16_t PolySurveySweepNum; uint16_t PolySurveySweepBackNum; float EntryRadius; -bool_t nav_survey_poly_osam_setup(uint8_t EntryWP, uint8_t Size, float sw, float Orientation) +bool nav_survey_poly_osam_setup(uint8_t EntryWP, uint8_t Size, float sw, float Orientation) { SmallestCorner.x = 0; SmallestCorner.y = 0; @@ -168,7 +168,7 @@ bool_t nav_survey_poly_osam_setup(uint8_t EntryWP, uint8_t Size, float sw, float CSurveyStatus = Init; if (Size == 0) { - return TRUE; + return true; } //Don't initialize if Polygon is too big or if the orientation is not between 0 and 90 @@ -329,10 +329,10 @@ bool_t nav_survey_poly_osam_setup(uint8_t EntryWP, uint8_t Size, float sw, float LINE_STOP_FUNCTION; } - return FALSE; + return false; } -bool_t nav_survey_poly_osam_run(void) +bool nav_survey_poly_osam_run(void) { struct Point2D C; struct Point2D ToP; @@ -340,8 +340,8 @@ bool_t nav_survey_poly_osam_run(void) float ys; static struct Point2D LastPoint; int i; - bool_t LastHalfSweep; - static bool_t HalfSweep = FALSE; + bool LastHalfSweep; + static bool HalfSweep = false; float XIntercept1 = 0; float XIntercept2 = 0; float DInt1 = 0; @@ -412,10 +412,10 @@ bool_t nav_survey_poly_osam_run(void) if (LastPoint.y + (dSweep / 2) >= MaxY || LastPoint.y + (dSweep / 2) <= 0) { //Sweep back dSweep = -dSweep; if (LastHalfSweep) { - HalfSweep = FALSE; + HalfSweep = false; ys = LastPoint.y + (dSweep); } else { - HalfSweep = TRUE; + HalfSweep = true; ys = LastPoint.y + (dSweep / 2); } @@ -433,13 +433,13 @@ bool_t nav_survey_poly_osam_run(void) } else { SurveyCircleQdr = 180 - DegOfRad(SurveyTheta); } - HalfSweep = TRUE; + HalfSweep = true; } } else { // Normal sweep //Find y value of the first sweep - HalfSweep = FALSE; + HalfSweep = false; ys = LastPoint.y + dSweep; } @@ -547,11 +547,11 @@ bool_t nav_survey_poly_osam_run(void) } break; case Init: - return FALSE; + return false; default: - return FALSE; + return false; } - return TRUE; + return true; } diff --git a/sw/airborne/modules/nav/nav_survey_poly_osam.h b/sw/airborne/modules/nav/nav_survey_poly_osam.h index cb3f8455f9..8f00714d2c 100644 --- a/sw/airborne/modules/nav/nav_survey_poly_osam.h +++ b/sw/airborne/modules/nav/nav_survey_poly_osam.h @@ -41,7 +41,7 @@ extern uint16_t PolySurveySweepBackNum; * @param Sweep distance between scan lines * @param Orientation angle of scan lines in degrees (CCW, east) */ -extern bool_t nav_survey_poly_osam_setup(uint8_t FirstWP, uint8_t Size, float Sweep, float Orientation); +extern bool nav_survey_poly_osam_setup(uint8_t FirstWP, uint8_t Size, float Sweep, float Orientation); /** * Setup "dynamic" polygon survey with sweep orientation towards a waypoint. @@ -54,9 +54,9 @@ extern bool_t nav_survey_poly_osam_setup(uint8_t FirstWP, uint8_t Size, float Sw * @param Sweep distance between scan lines, if zero uses Poly_Sweep * @param SecondWP second waypoint towards which the sweep orientation is computed */ -extern bool_t nav_survey_poly_osam_setup_towards(uint8_t FirstWP, uint8_t Size, float Sweep, int SecondWP); +extern bool nav_survey_poly_osam_setup_towards(uint8_t FirstWP, uint8_t Size, float Sweep, int SecondWP); /** Run polygon survey */ -extern bool_t nav_survey_poly_osam_run(void); +extern bool nav_survey_poly_osam_run(void); #endif diff --git a/sw/airborne/modules/nav/nav_survey_poly_rotorcraft.c b/sw/airborne/modules/nav/nav_survey_poly_rotorcraft.c index 301e2b75c1..d4ce302c77 100644 --- a/sw/airborne/modules/nav/nav_survey_poly_rotorcraft.c +++ b/sw/airborne/modules/nav/nav_survey_poly_rotorcraft.c @@ -66,7 +66,7 @@ uint8_t Poly_Size = POLYSURVEY_DEFAULT_SIZE; float Poly_Distance = POLYSURVEY_DEFAULT_DISTANCE; -bool_t nav_survey_poly_setup_towards(uint8_t FirstWP, uint8_t Size, float Sweep, int SecondWP) +bool nav_survey_poly_setup_towards(uint8_t FirstWP, uint8_t Size, float Sweep, int SecondWP) { float dx = waypoints[SecondWP].enu_f.x - waypoints[FirstWP].enu_f.x; float dy = waypoints[SecondWP].enu_f.y - waypoints[FirstWP].enu_f.y; @@ -128,7 +128,7 @@ uint16_t PolySurveySweepBackNum; float EntryRadius; //========================================================================================================================= -bool_t nav_survey_poly_setup(uint8_t EntryWP, uint8_t Size, float sw, float Orientation) +bool nav_survey_poly_setup(uint8_t EntryWP, uint8_t Size, float sw, float Orientation) { SmallestCorner.x = 0; SmallestCorner.y = 0; @@ -162,7 +162,7 @@ bool_t nav_survey_poly_setup(uint8_t EntryWP, uint8_t Size, float sw, float Orie CSurveyStatus = Init; if (Size == 0) { - return TRUE; + return true; } //Don't initialize if Polygon is too big or if the orientation is not between 0 and 90 @@ -309,11 +309,11 @@ bool_t nav_survey_poly_setup(uint8_t EntryWP, uint8_t Size, float sw, float Orie } - return FALSE; + return false; } //========================================================================================================================= -bool_t nav_survey_poly_run(void) +bool nav_survey_poly_run(void) { struct EnuCoor_f C; @@ -322,8 +322,8 @@ bool_t nav_survey_poly_run(void) float ys = 0; static struct EnuCoor_f LastPoint; int i; - bool_t LastHalfSweep; - static bool_t HalfSweep = FALSE; + bool LastHalfSweep; + static bool HalfSweep = false; float XIntercept1 = 0; float XIntercept2 = 0; float DInt1 = 0; @@ -392,10 +392,10 @@ bool_t nav_survey_poly_run(void) } if (LastHalfSweep) { - HalfSweep = FALSE; + HalfSweep = false; ys = LastPoint.y + (dSweep); } else { - HalfSweep = TRUE; + HalfSweep = true; ys = LastPoint.y + (dSweep / 2); } @@ -403,7 +403,7 @@ bool_t nav_survey_poly_run(void) //fprintf(stderr,"cabe interiro\n"); //Find y value of the first sweep - HalfSweep = FALSE; + HalfSweep = false; ys = LastPoint.y + dSweep; } @@ -490,12 +490,12 @@ bool_t nav_survey_poly_run(void) break; case Init: - return FALSE; + return false; default: - return FALSE; + return false; } - return TRUE; + return true; } diff --git a/sw/airborne/modules/nav/nav_survey_poly_rotorcraft.h b/sw/airborne/modules/nav/nav_survey_poly_rotorcraft.h index 1981ecf871..d5a865604c 100644 --- a/sw/airborne/modules/nav/nav_survey_poly_rotorcraft.h +++ b/sw/airborne/modules/nav/nav_survey_poly_rotorcraft.h @@ -41,7 +41,7 @@ extern uint16_t PolySurveySweepBackNum; * @param Sweep distance between scan lines * @param Orientation angle of scan lines in degrees (CCW, east) */ -extern bool_t nav_survey_poly_setup(uint8_t FirstWP, uint8_t Size, float Sweep, float Orientation); +extern bool nav_survey_poly_setup(uint8_t FirstWP, uint8_t Size, float Sweep, float Orientation); /** * Setup "dynamic" polygon survey with sweep orientation towards a waypoint. @@ -54,9 +54,9 @@ extern bool_t nav_survey_poly_setup(uint8_t FirstWP, uint8_t Size, float Sweep, * @param Sweep distance between scan lines, if zero uses Poly_Distance * @param SecondWP second waypoint towards which the sweep orientation is computed */ -extern bool_t nav_survey_poly_setup_towards(uint8_t FirstWP, uint8_t Size, float Sweep, int SecondWP); +extern bool nav_survey_poly_setup_towards(uint8_t FirstWP, uint8_t Size, float Sweep, int SecondWP); /** Run polygon survey */ -extern bool_t nav_survey_poly_run(void); +extern bool nav_survey_poly_run(void); #endif diff --git a/sw/airborne/modules/nav/nav_survey_polygon.c b/sw/airborne/modules/nav/nav_survey_polygon.c index 609f1d07c6..ed0cc9bc39 100644 --- a/sw/airborne/modules/nav/nav_survey_polygon.c +++ b/sw/airborne/modules/nav/nav_survey_polygon.c @@ -52,21 +52,21 @@ static void nav_points(struct FloatVect2 start, struct FloatVect2 end) * @param x, y first line is defined by point x and y (goes through this points) * @param a1, a2, b1, b2 second line by coordinates a1/a2, b1/b2 */ -static bool_t intercept_two_lines(struct FloatVect2 *p, struct FloatVect2 x, struct FloatVect2 y, float a1, float a2, +static bool intercept_two_lines(struct FloatVect2 *p, struct FloatVect2 x, struct FloatVect2 y, float a1, float a2, float b1, float b2) { float divider, fac; divider = (((b2 - a2) * (y.x - x.x)) + ((x.y - y.y) * (b1 - a1))); - if (divider == 0) { return FALSE; } + if (divider == 0) { return false; } fac = ((y.x * (x.y - a2)) + (x.x * (a2 - y.y)) + (a1 * (y.y - x.y))) / divider; - if (fac > 1.0) { return FALSE; } - if (fac < 0.0) { return FALSE; } + if (fac > 1.0) { return false; } + if (fac < 0.0) { return false; } p->x = a1 + fac * (b1 - a1); p->y = a2 + fac * (b2 - a2); - return TRUE; + return true; } /** @@ -75,7 +75,7 @@ static bool_t intercept_two_lines(struct FloatVect2 *p, struct FloatVect2 x, str * @param x, y intersection points * @param a, b define the line to intersection */ -static bool_t get_two_intersects(struct FloatVect2 *x, struct FloatVect2 *y, struct FloatVect2 a, struct FloatVect2 b) +static bool get_two_intersects(struct FloatVect2 *x, struct FloatVect2 *y, struct FloatVect2 a, struct FloatVect2 b) { int i, count = 0; struct FloatVect2 tmp; @@ -103,7 +103,7 @@ static bool_t get_two_intersects(struct FloatVect2 *x, struct FloatVect2 *y, str } if (count != 2) { - return FALSE; + return false; } //change points @@ -119,7 +119,7 @@ static bool_t get_two_intersects(struct FloatVect2 *x, struct FloatVect2 *y, str *y = tmp; } - return TRUE; + return true; } /** @@ -132,7 +132,7 @@ static bool_t get_two_intersects(struct FloatVect2 *x, struct FloatVect2 *y, str * @param min_rad minimal radius when navigating * @param altitude the altitude that must be reached before the flyover starts **/ -bool_t nav_survey_polygon_setup(uint8_t first_wp, uint8_t size, float angle, float sweep_width, float shot_dist, +bool nav_survey_polygon_setup(uint8_t first_wp, uint8_t size, float angle, float sweep_width, float shot_dist, float min_rad, float altitude) { int i; @@ -212,7 +212,7 @@ bool_t nav_survey_polygon_setup(uint8_t first_wp, uint8_t size, float angle, flo if (!get_two_intersects(&survey.seg_start, &survey.seg_end, survey.seg_start, survey.seg_end)) { survey.stage = ERR; - return FALSE; + return false; } //center of the entry circle @@ -224,7 +224,7 @@ bool_t nav_survey_polygon_setup(uint8_t first_wp, uint8_t size, float angle, flo survey.stage = ENTRY; - return FALSE; + return false; } /** @@ -232,7 +232,7 @@ bool_t nav_survey_polygon_setup(uint8_t first_wp, uint8_t size, float angle, flo * Position and stage and navigates accordingly. * @returns True until the survey is finished */ -bool_t nav_survey_polygon_run(void) +bool nav_survey_polygon_run(void) { NavVerticalAutoThrottleMode(0.0); NavVerticalAltitudeMode(survey.psa_altitude, 0.0); @@ -269,7 +269,7 @@ bool_t nav_survey_polygon_run(void) VECT2_SUM(sum_start_sweep, survey.seg_start, survey.sweep_vec); VECT2_SUM(sum_end_sweep, survey.seg_end, survey.sweep_vec); if (!get_two_intersects(&survey.seg_start, &survey.seg_end, sum_start_sweep, sum_end_sweep)) { - return FALSE; + return false; } survey.ret_end.x = survey.seg_start.x - survey.sweep_vec.x - 2 * survey.rad_vec.x; @@ -309,5 +309,5 @@ bool_t nav_survey_polygon_run(void) } } - return TRUE; + return true; } diff --git a/sw/airborne/modules/nav/nav_survey_polygon.h b/sw/airborne/modules/nav/nav_survey_polygon.h index 3e67c54d52..f15237c033 100644 --- a/sw/airborne/modules/nav/nav_survey_polygon.h +++ b/sw/airborne/modules/nav/nav_survey_polygon.h @@ -82,8 +82,8 @@ struct SurveyPolyAdv { struct FloatVect2 ret_end; }; -extern bool_t nav_survey_polygon_setup(uint8_t first_wp, uint8_t size, float angle, float sweep_width, float shot_dist, +extern bool nav_survey_polygon_setup(uint8_t first_wp, uint8_t size, float angle, float sweep_width, float shot_dist, float min_rad, float altitude); -extern bool_t nav_survey_polygon_run(void); +extern bool nav_survey_polygon_run(void); #endif diff --git a/sw/airborne/modules/nav/nav_survey_rectangle_rotorcraft.c b/sw/airborne/modules/nav/nav_survey_rectangle_rotorcraft.c index ef47a6823a..0e51eb7492 100644 --- a/sw/airborne/modules/nav/nav_survey_rectangle_rotorcraft.c +++ b/sw/airborne/modules/nav/nav_survey_rectangle_rotorcraft.c @@ -52,16 +52,16 @@ #include "state.h" float sweep = RECTANGLE_SURVEY_DEFAULT_SWEEP; -static bool_t nav_survey_rectangle_active = FALSE; +static bool nav_survey_rectangle_active = false; uint16_t rectangle_survey_sweep_num; -bool_t nav_in_segment = FALSE; -bool_t nav_in_circle = FALSE; -bool_t interleave = USE_INTERLEAVE; +bool nav_in_segment = false; +bool nav_in_circle = false; +bool interleave = USE_INTERLEAVE; static struct EnuCoor_f survey_from, survey_to; static struct EnuCoor_i survey_from_i, survey_to_i; -static bool_t survey_uturn __attribute__((unused)) = FALSE; +static bool survey_uturn __attribute__((unused)) = false; static survey_orientation_t survey_orientation = NS; float nav_survey_shift; @@ -96,7 +96,7 @@ void nav_survey_rectangle_rotorcraft_init(void) #endif } -bool_t nav_survey_rectangle_rotorcraft_setup(uint8_t wp1, uint8_t wp2, float grid, survey_orientation_t so) +bool nav_survey_rectangle_rotorcraft_setup(uint8_t wp1, uint8_t wp2, float grid, survey_orientation_t so) { rectangle_survey_sweep_num = 0; nav_survey_west = Min(WaypointX(wp1), WaypointX(wp2)); @@ -137,8 +137,8 @@ bool_t nav_survey_rectangle_rotorcraft_setup(uint8_t wp1, uint8_t wp2, float gri } } nav_survey_shift = grid; - survey_uturn = FALSE; - nav_survey_rectangle_active = FALSE; + survey_uturn = false; + nav_survey_rectangle_active = false; //go to start position ENU_BFP_OF_REAL(survey_from_i, survey_from); @@ -151,22 +151,22 @@ bool_t nav_survey_rectangle_rotorcraft_setup(uint8_t wp1, uint8_t wp2, float gri } else { nav_set_heading_deg(90); } - return FALSE; + return false; } -bool_t nav_survey_rectangle_rotorcraft_run(uint8_t wp1, uint8_t wp2) +bool nav_survey_rectangle_rotorcraft_run(uint8_t wp1, uint8_t wp2) { - static bool_t is_last_half = FALSE; + static bool is_last_half = false; static float survey_radius; - nav_survey_active = TRUE; + nav_survey_active = true; /* entry scan */ // wait for start position and altitude be reached if (!nav_survey_rectangle_active && ((!nav_approaching_from(&survey_from_i, NULL, 0)) || (fabsf(stateGetPositionEnu_f()->z - waypoints[wp1].enu_f.z)) > 1.)) { } else { if (!nav_survey_rectangle_active) { - nav_survey_rectangle_active = TRUE; + nav_survey_rectangle_active = true; LINE_START_FUNCTION; } @@ -221,7 +221,7 @@ bool_t nav_survey_rectangle_rotorcraft_run(uint8_t wp1, uint8_t wp2) }else { survey_radius = nav_survey_shift /2.; } - is_last_half = FALSE; + is_last_half = false; } else { // last sweep not half nav_survey_shift = -nav_survey_shift; if (interleave) { @@ -233,7 +233,7 @@ bool_t nav_survey_rectangle_rotorcraft_run(uint8_t wp1, uint8_t wp2) rectangle_survey_sweep_num ++; } else { //room for half sweep after survey_radius = nav_survey_shift / 2.; - is_last_half = TRUE; + is_last_half = true; } } else {// room for full sweep after survey_radius = nav_survey_shift; @@ -270,7 +270,7 @@ bool_t nav_survey_rectangle_rotorcraft_run(uint8_t wp1, uint8_t wp2) }else { survey_radius = nav_survey_shift /2.; } - is_last_half = FALSE; + is_last_half = false; } else { // last sweep not half nav_survey_shift = -nav_survey_shift; if (interleave) { @@ -282,7 +282,7 @@ bool_t nav_survey_rectangle_rotorcraft_run(uint8_t wp1, uint8_t wp2) rectangle_survey_sweep_num ++; } else { //room for half sweep after survey_radius = nav_survey_shift / 2.; - is_last_half = TRUE; + is_last_half = true; } } else {// room for full sweep after survey_radius = nav_survey_shift; @@ -306,8 +306,8 @@ bool_t nav_survey_rectangle_rotorcraft_run(uint8_t wp1, uint8_t wp2) } } - nav_in_segment = FALSE; - survey_uturn = TRUE; + nav_in_segment = false; + survey_uturn = true; LINE_STOP_FUNCTION; #ifdef DIGITAL_CAM float temp; @@ -350,8 +350,8 @@ bool_t nav_survey_rectangle_rotorcraft_run(uint8_t wp1, uint8_t wp2) ENU_BFP_OF_REAL(survey_to_i, waypoints[0].enu_f); } if (nav_approaching_from(&survey_to_i, NULL, 0)) { - survey_uturn = FALSE; - nav_in_circle = FALSE; + survey_uturn = false; + nav_in_circle = false; LINE_START_FUNCTION; } else { @@ -369,7 +369,7 @@ bool_t nav_survey_rectangle_rotorcraft_run(uint8_t wp1, uint8_t wp2) } /* END turn */ } /* END entry scan */ - return TRUE; + return true; }// /* END survey_retangle */ diff --git a/sw/airborne/modules/nav/nav_survey_rectangle_rotorcraft.h b/sw/airborne/modules/nav/nav_survey_rectangle_rotorcraft.h index 162c8c2da3..22c60047bc 100644 --- a/sw/airborne/modules/nav/nav_survey_rectangle_rotorcraft.h +++ b/sw/airborne/modules/nav/nav_survey_rectangle_rotorcraft.h @@ -37,12 +37,12 @@ typedef enum {NS, WE} survey_orientation_t; extern float sweep; extern uint16_t rectangle_survey_sweep_num; -extern bool_t interleave; +extern bool interleave; extern void nav_survey_rectangle_rotorcraft_init(void); -extern bool_t nav_survey_rectangle_rotorcraft_setup(uint8_t wp1, uint8_t wp2, float grid1, survey_orientation_t so); -extern bool_t nav_survey_rectangle_rotorcraft_run(uint8_t wp1, uint8_t wp2); +extern bool nav_survey_rectangle_rotorcraft_setup(uint8_t wp1, uint8_t wp2, float grid1, survey_orientation_t so); +extern bool nav_survey_rectangle_rotorcraft_run(uint8_t wp1, uint8_t wp2); #define NavSurveyRectangleInit(_wp1, _wp2, _grid, _orientation) nav_survey_rectangle_rotorcraft_setup(_wp1, _wp2, _grid, _orientation) #define NavSurveyRectangle(_wp1, _wp2) nav_survey_rectangle_rotorcraft_run(_wp1, _wp2) diff --git a/sw/airborne/modules/nav/nav_survey_zamboni.c b/sw/airborne/modules/nav/nav_survey_zamboni.c index c35d6013fb..2cc5515443 100644 --- a/sw/airborne/modules/nav/nav_survey_zamboni.c +++ b/sw/airborne/modules/nav/nav_survey_zamboni.c @@ -54,7 +54,7 @@ struct ZamboniSurvey zs; * @param sweep_lines number of sweep_lines to fly * @param altitude the altitude that must be reached before the flyover starts */ -bool_t nav_survey_zamboni_setup(uint8_t center_wp, uint8_t dir_wp, float sweep_length, float sweep_spacing, +bool nav_survey_zamboni_setup(uint8_t center_wp, uint8_t dir_wp, float sweep_length, float sweep_spacing, int sweep_lines, float altitude) { zs.current_laps = 0; @@ -118,7 +118,7 @@ bool_t nav_survey_zamboni_setup(uint8_t center_wp, uint8_t dir_wp, float sweep_l zs.stage = Z_ENTRY; - return FALSE; + return false; } /** @@ -128,7 +128,7 @@ bool_t nav_survey_zamboni_setup(uint8_t center_wp, uint8_t dir_wp, float sweep_l * * @returns TRUE until the survey is finished */ -bool_t nav_survey_zamboni_run(void) +bool nav_survey_zamboni_run(void) { // retain altitude NavVerticalAutoThrottleMode(0.0); @@ -211,8 +211,8 @@ bool_t nav_survey_zamboni_run(void) #ifdef DIGITAL_CAM LINE_STOP_FUNCTION; #endif - return FALSE; + return false; } else { - return TRUE; + return true; } } diff --git a/sw/airborne/modules/nav/nav_survey_zamboni.h b/sw/airborne/modules/nav/nav_survey_zamboni.h index 4b5153253f..c7dea17347 100644 --- a/sw/airborne/modules/nav/nav_survey_zamboni.h +++ b/sw/airborne/modules/nav/nav_survey_zamboni.h @@ -70,8 +70,8 @@ struct ZamboniSurvey { }; -extern bool_t nav_survey_zamboni_setup(uint8_t center_wp, uint8_t dir_wp, float sweep_length, float sweep_spacing, +extern bool nav_survey_zamboni_setup(uint8_t center_wp, uint8_t dir_wp, float sweep_length, float sweep_spacing, int sweep_lines, float altitude); -extern bool_t nav_survey_zamboni_run(void); +extern bool nav_survey_zamboni_run(void); #endif //ZAMBONI_SURVEY_H diff --git a/sw/airborne/modules/nav/nav_vertical_raster.c b/sw/airborne/modules/nav/nav_vertical_raster.c index be29c3afd5..ad9b5e1f9b 100644 --- a/sw/airborne/modules/nav/nav_vertical_raster.c +++ b/sw/airborne/modules/nav/nav_vertical_raster.c @@ -40,13 +40,13 @@ enum line_status { LR12, LQC21, LTC2, LQC22, LR21, LQC12, LTC1, LQC11 }; static enum line_status line_status; -bool_t nav_vertical_raster_setup(void) +bool nav_vertical_raster_setup(void) { line_status = LR12; - return FALSE; + return false; } -bool_t nav_vertical_raster_run(uint8_t l1, uint8_t l2, float radius, float AltSweep) +bool nav_vertical_raster_run(uint8_t l1, uint8_t l2, float radius, float AltSweep) { radius = fabs(radius); float alt = waypoints[l1].a; @@ -156,5 +156,5 @@ bool_t nav_vertical_raster_run(uint8_t l1, uint8_t l2, float radius, float AltSw default: break; } - return TRUE; /* This pattern never ends */ + return true; /* This pattern never ends */ } diff --git a/sw/airborne/modules/nav/nav_vertical_raster.h b/sw/airborne/modules/nav/nav_vertical_raster.h index 150c514030..dcb8e602ee 100644 --- a/sw/airborne/modules/nav/nav_vertical_raster.h +++ b/sw/airborne/modules/nav/nav_vertical_raster.h @@ -29,7 +29,7 @@ #include "std.h" -extern bool_t nav_vertical_raster_setup(void); -extern bool_t nav_vertical_raster_run(uint8_t wp1, uint8_t wp2, float radius, float AltSweep); +extern bool nav_vertical_raster_setup(void); +extern bool nav_vertical_raster_run(uint8_t wp1, uint8_t wp2, float radius, float AltSweep); #endif diff --git a/sw/airborne/modules/nav/takeoff_detect.c b/sw/airborne/modules/nav/takeoff_detect.c index 71734bb9b3..e75895ad86 100644 --- a/sw/airborne/modules/nav/takeoff_detect.c +++ b/sw/airborne/modules/nav/takeoff_detect.c @@ -97,7 +97,7 @@ void takeoff_detect_periodic(void) } // if timer is finished, start launching if (takeoff_detect.timer > (int)(TAKEOFF_DETECT_PERIODIC_FREQ * TAKEOFF_DETECT_TIMER)) { - launch = TRUE; + launch = true; takeoff_detect.state = TO_DETECT_LAUNCHING; takeoff_detect.timer = 0; } @@ -107,7 +107,7 @@ void takeoff_detect_periodic(void) if (stateGetNedToBodyEulers_f()->theta < TAKEOFF_DETECT_ABORT_PITCH || pprz_mode != PPRZ_MODE_AUTO2) { // back to ARMED state - launch = FALSE; + launch = false; takeoff_detect.state = TO_DETECT_ARMED; } // increment timer and disable detection after some time diff --git a/sw/airborne/modules/obstacle_avoidance/guidance_OA.c b/sw/airborne/modules/obstacle_avoidance/guidance_OA.c index 10460e700a..cab84a9cd1 100644 --- a/sw/airborne/modules/obstacle_avoidance/guidance_OA.c +++ b/sw/airborne/modules/obstacle_avoidance/guidance_OA.c @@ -172,7 +172,7 @@ void guidance_h_module_read_rc(void) * Main guidance loop * @param[in] in_flight Whether we are in flight or not */ -void guidance_h_module_run(bool_t in_flight) +void guidance_h_module_run(bool in_flight) { OA_update(); /* Update the setpoint */ diff --git a/sw/airborne/modules/obstacle_avoidance/guidance_OA.h b/sw/airborne/modules/obstacle_avoidance/guidance_OA.h index f266772e63..98f85116f5 100644 --- a/sw/airborne/modules/obstacle_avoidance/guidance_OA.h +++ b/sw/airborne/modules/obstacle_avoidance/guidance_OA.h @@ -65,7 +65,7 @@ extern float speed_pot; extern void guidance_h_module_init(void); extern void guidance_h_module_enter(void); extern void guidance_h_module_read_rc(void); -extern void guidance_h_module_run(bool_t in_flight); +extern void guidance_h_module_run(bool in_flight); // Update the stabiliztion commands based on a vision result extern void OA_update(void); diff --git a/sw/airborne/modules/optical_flow/px4flow.c b/sw/airborne/modules/optical_flow/px4flow.c index 56c863328c..72f673e214 100644 --- a/sw/airborne/modules/optical_flow/px4flow.c +++ b/sw/airborne/modules/optical_flow/px4flow.c @@ -31,7 +31,7 @@ #include "subsystems/abi.h" struct mavlink_optical_flow optical_flow; -bool_t optical_flow_available; +bool optical_flow_available; // message ID in Mavlink (v1.0) #define MAVLINK_OPTICAL_FLOW_MSG_ID 100 @@ -49,7 +49,7 @@ struct mavlink_msg_req req; // callback function on message reception static void decode_optical_flow_msg(struct mavlink_message *msg __attribute__((unused))) { - optical_flow_available = TRUE; + optical_flow_available = true; // Y negated to get to the body of the drone AbiSendMsgVELOCITY_ESTIMATE(PX4FLOW_VELOCITY_ID, 0, @@ -63,7 +63,7 @@ static void decode_optical_flow_msg(struct mavlink_message *msg __attribute__((u */ void px4flow_init(void) { - optical_flow_available = FALSE; + optical_flow_available = false; // register a mavlink message req.msg_id = MAVLINK_OPTICAL_FLOW_MSG_ID; diff --git a/sw/airborne/modules/optical_flow/px4flow.h b/sw/airborne/modules/optical_flow/px4flow.h index 57c0fcff23..4bd1738eb1 100644 --- a/sw/airborne/modules/optical_flow/px4flow.h +++ b/sw/airborne/modules/optical_flow/px4flow.h @@ -48,7 +48,7 @@ struct mavlink_optical_flow { }; extern struct mavlink_optical_flow optical_flow; -extern bool_t optical_flow_available; +extern bool optical_flow_available; extern void px4flow_init(void); extern void px4flow_downlink(void); diff --git a/sw/airborne/modules/orange_avoider/orange_avoider.c b/sw/airborne/modules/orange_avoider/orange_avoider.c index 3bff8c81a4..9726c35390 100644 --- a/sw/airborne/modules/orange_avoider/orange_avoider.c +++ b/sw/airborne/modules/orange_avoider/orange_avoider.c @@ -17,7 +17,7 @@ #include #include -uint8_t safeToGoForwards = FALSE; +uint8_t safeToGoForwards = false; int tresholdColorCount = 200; int32_t incrementForAvoidance; @@ -52,7 +52,7 @@ uint8_t increase_nav_heading(int32_t *heading, int32_t increment) *heading = *heading + increment; // Check if your turn made it go out of bounds... INT32_ANGLE_NORMALIZE(*heading); // HEADING HAS INT32_ANGLE_FRAC.... - return FALSE; + return false; } uint8_t moveWaypointForwards(uint8_t waypoint, float distanceMeters) { @@ -71,7 +71,7 @@ uint8_t moveWaypointForwards(uint8_t waypoint, float distanceMeters) // Set the waypoint to the calculated position waypoint_set_xy_i(waypoint, new_coor.x, new_coor.y); - return FALSE; + return false; } uint8_t chooseRandomIncrementAvoidance() @@ -83,6 +83,6 @@ uint8_t chooseRandomIncrementAvoidance() } else { incrementForAvoidance = -350; } - return FALSE; + return false; } diff --git a/sw/airborne/modules/px4_flash/px4_flash.c b/sw/airborne/modules/px4_flash/px4_flash.c index b16383b41f..7aa81f17e2 100644 --- a/sw/airborne/modules/px4_flash/px4_flash.c +++ b/sw/airborne/modules/px4_flash/px4_flash.c @@ -62,13 +62,13 @@ tid_t px4iobl_tid; ///< id for time out of the px4 bootloader reset #define PROTO_GET_CRC 0x29 ///< compute & return a CRC #define PROTO_BOOT 0x30 ///< boot the application -bool_t setToBootloaderMode; -bool_t px4ioRebootTimeout; +bool setToBootloaderMode; +bool px4ioRebootTimeout; void px4flash_init(void) { - setToBootloaderMode = FALSE; - px4ioRebootTimeout = FALSE; + setToBootloaderMode = false; + px4ioRebootTimeout = false; px4iobl_tid = sys_time_register_timer(15.0, NULL); //20 (fbw pprz bl timeout)-5 (px4 fmu bl timeout) } @@ -129,7 +129,7 @@ void px4flash_event(void) //first check if the bootloader has not timeout: if (sys_time_check_and_ack_timer(px4iobl_tid) || px4ioRebootTimeout) { - px4ioRebootTimeout = TRUE; + px4ioRebootTimeout = true; sys_time_cancel_timer(px4iobl_tid); FLASH_PORT->put_byte(FLASH_PORT->periph, 'T'); FLASH_PORT->put_byte(FLASH_PORT->periph, 'I'); diff --git a/sw/airborne/modules/sensors/airspeed_amsys.c b/sw/airborne/modules/sensors/airspeed_amsys.c index 3782153982..ea120435f1 100644 --- a/sw/airborne/modules/sensors/airspeed_amsys.c +++ b/sw/airborne/modules/sensors/airspeed_amsys.c @@ -70,7 +70,7 @@ PRINT_CONFIG_MSG("USE_AIRSPEED_AMSYS automatically set to TRUE") // Global variables uint16_t airspeed_amsys_raw; uint16_t tempAS_amsys_raw; -bool_t airspeed_amsys_valid; +bool airspeed_amsys_valid; float airspeed_amsys_offset; float airspeed_amsys_tmp; float airspeed_amsys_p; //Pascal @@ -80,10 +80,10 @@ float airspeed_filter; struct i2c_transaction airspeed_amsys_i2c_trans; // Local variables -volatile bool_t airspeed_amsys_i2c_done; +volatile bool airspeed_amsys_i2c_done; float airspeed_temperature = 0.0; float airspeed_old = 0.0; -bool_t airspeed_amsys_offset_init; +bool airspeed_amsys_offset_init; double airspeed_amsys_offset_tmp; uint16_t airspeed_amsys_cnt; @@ -96,9 +96,9 @@ void airspeed_amsys_init(void) airspeed_amsys_p = 0.0; airspeed_amsys_offset = 0; airspeed_amsys_offset_tmp = 0; - airspeed_amsys_i2c_done = TRUE; - airspeed_amsys_valid = TRUE; - airspeed_amsys_offset_init = FALSE; + airspeed_amsys_i2c_done = true; + airspeed_amsys_valid = true; + airspeed_amsys_offset_init = false; airspeed_scale = AIRSPEED_AMSYS_SCALE; airspeed_filter = AIRSPEED_AMSYS_FILTER; airspeed_amsys_i2c_trans.status = I2CTransDone; @@ -157,9 +157,9 @@ void airspeed_amsys_read_event(void) // Check if this is valid airspeed if (airspeed_amsys_raw == 0) { - airspeed_amsys_valid = FALSE; + airspeed_amsys_valid = false; } else { - airspeed_amsys_valid = TRUE; + airspeed_amsys_valid = true; } // Continue only if a new airspeed value was received @@ -185,7 +185,7 @@ void airspeed_amsys_read_event(void) if (airspeed_amsys_cnt == 0) { // Calculate average airspeed_amsys_offset = airspeed_amsys_offset_tmp / AIRSPEED_AMSYS_OFFSET_NBSAMPLES_AVRG; - airspeed_amsys_offset_init = TRUE; + airspeed_amsys_offset_init = true; } // Check if averaging needs to continue else if (airspeed_amsys_cnt <= AIRSPEED_AMSYS_OFFSET_NBSAMPLES_AVRG) { diff --git a/sw/airborne/modules/sensors/airspeed_ets.c b/sw/airborne/modules/sensors/airspeed_ets.c index eceb9d25aa..a231d162d0 100644 --- a/sw/airborne/modules/sensors/airspeed_ets.c +++ b/sw/airborne/modules/sensors/airspeed_ets.c @@ -88,7 +88,7 @@ PRINT_CONFIG_VAR(AIRSPEED_ETS_START_DELAY) #include "sdLog.h" #include "subsystems/chibios-libopencm3/chibios_sdlog.h" #include "subsystems/gps.h" -bool_t log_airspeed_ets_started; +bool log_airspeed_ets_started; #endif #endif @@ -96,7 +96,7 @@ bool_t log_airspeed_ets_started; // Global variables uint16_t airspeed_ets_raw; uint16_t airspeed_ets_offset; -bool_t airspeed_ets_valid; +bool airspeed_ets_valid; float airspeed_ets; int airspeed_ets_buffer_idx; float airspeed_ets_buffer[AIRSPEED_ETS_NBSAMPLES_AVRG]; @@ -104,12 +104,12 @@ float airspeed_ets_buffer[AIRSPEED_ETS_NBSAMPLES_AVRG]; struct i2c_transaction airspeed_ets_i2c_trans; // Local variables -volatile bool_t airspeed_ets_i2c_done; -bool_t airspeed_ets_offset_init; +volatile bool airspeed_ets_i2c_done; +bool airspeed_ets_offset_init; uint32_t airspeed_ets_offset_tmp; uint16_t airspeed_ets_cnt; uint32_t airspeed_ets_delay_time; -bool_t airspeed_ets_delay_done; +bool airspeed_ets_delay_done; void airspeed_ets_init(void) { @@ -118,9 +118,9 @@ void airspeed_ets_init(void) airspeed_ets = 0.0; airspeed_ets_offset = 0; airspeed_ets_offset_tmp = 0; - airspeed_ets_i2c_done = TRUE; - airspeed_ets_valid = FALSE; - airspeed_ets_offset_init = FALSE; + airspeed_ets_i2c_done = true; + airspeed_ets_valid = false; + airspeed_ets_offset_init = false; airspeed_ets_cnt = AIRSPEED_ETS_OFFSET_NBSAMPLES_INIT + AIRSPEED_ETS_OFFSET_NBSAMPLES_AVRG; airspeed_ets_buffer_idx = 0; @@ -130,12 +130,12 @@ void airspeed_ets_init(void) airspeed_ets_i2c_trans.status = I2CTransDone; - airspeed_ets_delay_done = FALSE; + airspeed_ets_delay_done = false; SysTimeTimerStart(airspeed_ets_delay_time); #ifndef SITL #if AIRSPEED_ETS_SDLOG - log_airspeed_ets_started = FALSE; + log_airspeed_ets_started = false; #endif #endif } @@ -145,7 +145,7 @@ void airspeed_ets_read_periodic(void) #ifndef SITL if (!airspeed_ets_delay_done) { if (SysTimeTimer(airspeed_ets_delay_time) < USEC_OF_SEC(AIRSPEED_ETS_START_DELAY)) { return; } - else { airspeed_ets_delay_done = TRUE; } + else { airspeed_ets_delay_done = true; } } if (airspeed_ets_i2c_trans.status == I2CTransDone) { i2c_receive(&AIRSPEED_ETS_I2C_DEV, &airspeed_ets_i2c_trans, AIRSPEED_ETS_ADDR, 2); @@ -165,9 +165,9 @@ void airspeed_ets_read_event(void) airspeed_ets_raw = ((uint16_t)(airspeed_ets_i2c_trans.buf[1]) << 8) | (uint16_t)(airspeed_ets_i2c_trans.buf[0]); // Check if this is valid airspeed if (airspeed_ets_raw == 0) { - airspeed_ets_valid = FALSE; + airspeed_ets_valid = false; } else { - airspeed_ets_valid = TRUE; + airspeed_ets_valid = true; } // Continue only if a new airspeed value was received @@ -187,7 +187,7 @@ void airspeed_ets_read_event(void) if (airspeed_ets_offset > AIRSPEED_ETS_OFFSET_MAX) { airspeed_ets_offset = AIRSPEED_ETS_OFFSET_MAX; } - airspeed_ets_offset_init = TRUE; + airspeed_ets_offset_init = true; } // Check if averaging needs to continue else if (airspeed_ets_cnt <= AIRSPEED_ETS_OFFSET_NBSAMPLES_AVRG) { @@ -242,7 +242,7 @@ void airspeed_ets_read_event(void) if (pprzLogFile != -1) { if (!log_airspeed_ets_started) { sdLogWriteLog(pprzLogFile, "AIRSPEED_ETS: raw offset airspeed(m/s) GPS_fix TOW(ms) Week Lat(1e7deg) Lon(1e7deg) HMSL(mm) gpseed(cm/s) course(1e7rad) climb(cm/s)\n"); - log_airspeed_ets_started = TRUE; + log_airspeed_ets_started = true; } sdLogWriteLog(pprzLogFile, "airspeed_ets: %d %d %8.4f %d %d %d %d %d %d %d %d %d\n", airspeed_ets_raw, airspeed_ets_offset, airspeed_ets, diff --git a/sw/airborne/modules/sensors/airspeed_ets.h b/sw/airborne/modules/sensors/airspeed_ets.h index de9565d5c3..4fe58fafbc 100644 --- a/sw/airborne/modules/sensors/airspeed_ets.h +++ b/sw/airborne/modules/sensors/airspeed_ets.h @@ -46,7 +46,7 @@ extern uint16_t airspeed_ets_raw; extern uint16_t airspeed_ets_offset; -extern bool_t airspeed_ets_valid; +extern bool airspeed_ets_valid; extern float airspeed_ets; extern struct i2c_transaction airspeed_ets_i2c_trans; diff --git a/sw/airborne/modules/sensors/airspeed_ms45xx_i2c.h b/sw/airborne/modules/sensors/airspeed_ms45xx_i2c.h index 6b95c3c863..e6e1d84aa2 100644 --- a/sw/airborne/modules/sensors/airspeed_ms45xx_i2c.h +++ b/sw/airborne/modules/sensors/airspeed_ms45xx_i2c.h @@ -35,7 +35,7 @@ struct AirspeedMs45xx { float airspeed_scale; ///< quadratic scale factor to convert differential pressure to airspeed float pressure_scale; ///< scaling factor from raw measurement to Pascal float pressure_offset; ///< offset in Pascal - bool_t sync_send; ///< flag to enable sending every new measurement via telemetry + bool sync_send; ///< flag to enable sending every new measurement via telemetry }; extern struct AirspeedMs45xx ms45xx; diff --git a/sw/airborne/modules/sensors/alt_srf08.c b/sw/airborne/modules/sensors/alt_srf08.c index b950db614c..329ab3fab9 100644 --- a/sw/airborne/modules/sensors/alt_srf08.c +++ b/sw/airborne/modules/sensors/alt_srf08.c @@ -40,7 +40,7 @@ #endif /* Global Variables */ -bool_t srf08_received, srf08_got; +bool srf08_received, srf08_got; struct i2c_transaction srf_trans; uint16_t srf08_range; @@ -49,8 +49,8 @@ uint16_t srf08_range; void srf08_init(void) { - srf08_received = FALSE; - srf08_got = FALSE; + srf08_received = false; + srf08_got = false; srf_trans.buf[0] = 0x00; srf_trans.buf[1] = 0x51; @@ -78,14 +78,14 @@ void srf08_receive(void) { LED_OFF(2); srf_trans.buf[0] = SRF08_ECHO_1; - srf08_received = TRUE; + srf08_received = true; i2c_transmit(&SRF08_I2C_DEV, &srf_trans, SRF08_UNIT_0, 1); } /** Read values on the bus */ void srf08_read(void) { - srf08_got = TRUE; + srf08_got = true; i2c_receive(&SRF08_I2C_DEV, &srf_trans, SRF08_UNIT_0, 2); } @@ -144,10 +144,10 @@ void srf08_event(void) /** Handling of data sent by the device (initiated by srf08_receive() */ if (srf_trans.status == I2CTransSuccess) { if (srf08_received) { - srf08_received = FALSE; + srf08_received = false; srf08_read(); } else if (srf08_got) { - srf08_got = FALSE; + srf08_got = false; srf08_copy(); DOWNLINK_SEND_RANGEFINDER(DefaultChannel, DefaultDevice, &srf08_range, &f, &f, &f, &f, &f, &i); } diff --git a/sw/airborne/modules/sensors/alt_srf08.h b/sw/airborne/modules/sensors/alt_srf08.h index 06a5f82051..871f5ebdc1 100644 --- a/sw/airborne/modules/sensors/alt_srf08.h +++ b/sw/airborne/modules/sensors/alt_srf08.h @@ -107,7 +107,7 @@ extern void srf08_initiate_ranging(void); extern void srf08_receive(void); extern uint16_t srf08_range; -extern bool_t srf08_received, srf08_got; +extern bool srf08_received, srf08_got; /** Read values on the bus */ extern void srf08_read(void); /** Copy the I2C buffer */ diff --git a/sw/airborne/modules/sensors/aoa_pwm.c b/sw/airborne/modules/sensors/aoa_pwm.c index ae11c4c6c5..fdbaf12c48 100644 --- a/sw/airborne/modules/sensors/aoa_pwm.c +++ b/sw/airborne/modules/sensors/aoa_pwm.c @@ -36,7 +36,7 @@ #if LOG_AOA #include "sdLog.h" #include "subsystems/chibios-libopencm3/chibios_sdlog.h" -bool_t log_started; +bool log_started; #endif #ifndef AOA_PWM_CHANNEL @@ -102,7 +102,7 @@ void aoa_pwm_init(void) aoa_pwm.angle = 0.0f; aoa_pwm.raw = 0.0f; #if LOG_AOA - log_started = FALSE; + log_started = false; #endif #if PERIODIC_TELEMETRY register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_AOA, send_aoa); @@ -136,7 +136,7 @@ void aoa_pwm_update(void) { if(pprzLogFile != -1) { if (!log_started) { sdLogWriteLog(pprzLogFile, "AOA_PWM: ANGLE(deg) RAW(int16)\n"); - log_started = TRUE; + log_started = true; } else { float angle = DegOfRad(aoa_pwm.angle); sdLogWriteLog(pprzLogFile, "AOA_PWM: %.3f %d\n", angle, aoa_pwm.raw); diff --git a/sw/airborne/modules/sensors/baro_MS5534A.c b/sw/airborne/modules/sensors/baro_MS5534A.c index c6e1d4ef66..cbd51cef00 100644 --- a/sw/airborne/modules/sensors/baro_MS5534A.c +++ b/sw/airborne/modules/sensors/baro_MS5534A.c @@ -38,11 +38,11 @@ #include "state.h" -bool_t baro_MS5534A_do_reset; +bool baro_MS5534A_do_reset; uint32_t baro_MS5534A_pressure; uint16_t baro_MS5534A_temp; -bool_t baro_MS5534A_available; -bool_t alt_baro_enabled; +bool baro_MS5534A_available; +bool alt_baro_enabled; uint32_t baro_MS5534A_ground_pressure; float baro_MS5534A_r; float baro_MS5534A_sigma2; @@ -58,7 +58,7 @@ float baro_MS5534A_z; #define STATUS_RESET 6 static uint8_t status; -static bool_t status_read_data; +static bool status_read_data; static uint16_t words[4]; #define InitStatus() (status <= STATUS_INIT4) @@ -140,29 +140,29 @@ void baro_MS5534A_init(void) words[3] = BARO_MS5534A_W4; status = STATUS_MEASURE_PRESSURE; - status_read_data = FALSE; + status_read_data = false; calibration(); #else status = STATUS_INIT1; - status_read_data = FALSE; + status_read_data = false; #endif - baro_MS5534A_available = FALSE; - alt_baro_enabled = FALSE; + baro_MS5534A_available = false; + alt_baro_enabled = false; baro_MS5534A_ground_pressure = 101300; baro_MS5534A_r = 20.; baro_MS5534A_sigma2 = 1; - baro_MS5534A_do_reset = FALSE; + baro_MS5534A_do_reset = false; } void baro_MS5534A_reset(void) { status = STATUS_INIT1; - status_read_data = FALSE; + status_read_data = false; } /* To be called not faster than 30Hz */ @@ -240,7 +240,7 @@ void baro_MS5534A_event_task(void) uint16_t x = (sens * (d1 - 7168)) / (1 << 14) - off; // baro_MS5534A = ((x*10)>>5) + 250*10; baro_MS5534A_pressure = ((x * 100) >> 5) + 250 * 100; - baro_MS5534A_available = TRUE; + baro_MS5534A_available = true; break; case STATUS_RESET: @@ -264,10 +264,10 @@ void baro_MS5534A_event(void) { if (spi_message_received) { /* Got a message on SPI. */ - spi_message_received = FALSE; + spi_message_received = false; baro_MS5534A_event_task(); if (baro_MS5534A_available) { - baro_MS5534A_available = FALSE; + baro_MS5534A_available = false; baro_MS5534A_z = ground_alt + ((float)baro_MS5534A_ground_pressure - baro_MS5534A_pressure) * 0.084; #if SENSO_SYNC_SEND DOWNLINK_SEND_BARO_MS5534A(DefaultChannel, DefaultDevice, &baro_MS5534A_pressure, &baro_MS5534A_temp, &baro_MS5534A_z); diff --git a/sw/airborne/modules/sensors/baro_MS5534A.h b/sw/airborne/modules/sensors/baro_MS5534A.h index c141b12760..bd3705aad3 100644 --- a/sw/airborne/modules/sensors/baro_MS5534A.h +++ b/sw/airborne/modules/sensors/baro_MS5534A.h @@ -33,11 +33,11 @@ #if USE_BARO_MS5534A -extern bool_t baro_MS5534A_do_reset; -extern bool_t baro_MS5534A_available; +extern bool baro_MS5534A_do_reset; +extern bool baro_MS5534A_available; extern uint32_t baro_MS5534A_pressure; extern uint16_t baro_MS5534A_temp; -extern bool_t alt_baro_enabled; +extern bool alt_baro_enabled; extern uint32_t baro_MS5534A_ground_pressure; extern float baro_MS5534A_r; extern float baro_MS5534A_sigma2; diff --git a/sw/airborne/modules/sensors/baro_amsys.c b/sw/airborne/modules/sensors/baro_amsys.c index 28e6123990..2d29747805 100644 --- a/sw/airborne/modules/sensors/baro_amsys.c +++ b/sw/airborne/modules/sensors/baro_amsys.c @@ -72,9 +72,9 @@ uint16_t pBaroRaw; uint16_t tBaroRaw; uint16_t baro_amsys_adc; float baro_amsys_offset; -bool_t baro_amsys_valid; +bool baro_amsys_valid; float baro_amsys_altitude; -bool_t baro_amsys_enabled; +bool baro_amsys_enabled; float baro_amsys_r; float baro_amsys_sigma2; float baro_amsys_temp; @@ -90,7 +90,7 @@ float baro_old; struct i2c_transaction baro_amsys_i2c_trans; // Local variables -bool_t baro_amsys_offset_init; +bool baro_amsys_offset_init; double baro_amsys_offset_tmp; uint16_t baro_amsys_cnt; @@ -103,9 +103,9 @@ void baro_amsys_init(void) baro_amsys_p = 0.0; baro_amsys_offset = 0; baro_amsys_offset_tmp = 0; - baro_amsys_valid = TRUE; - baro_amsys_offset_init = FALSE; - baro_amsys_enabled = TRUE; + baro_amsys_valid = true; + baro_amsys_offset_init = false; + baro_amsys_enabled = true; baro_scale = BARO_AMSYS_SCALE; baro_amsys_cnt = BARO_AMSYS_OFFSET_NBSAMPLES_INIT + BARO_AMSYS_OFFSET_NBSAMPLES_AVRG; baro_amsys_r = BARO_AMSYS_R; @@ -150,9 +150,9 @@ void baro_amsys_read_event(void) #endif // Check if this is valid altimeter if (pBaroRaw == 0) { - baro_amsys_valid = FALSE; + baro_amsys_valid = false; } else { - baro_amsys_valid = TRUE; + baro_amsys_valid = true; } baro_amsys_adc = pBaroRaw; @@ -181,7 +181,7 @@ void baro_amsys_read_event(void) // Calculate average baro_amsys_offset = (float)(baro_amsys_offset_tmp / BARO_AMSYS_OFFSET_NBSAMPLES_AVRG); ref_alt_init = GROUND_ALT; - baro_amsys_offset_init = TRUE; + baro_amsys_offset_init = true; // hight over Sea level at init point //baro_amsys_offset_altitude = 288.15 / 0.0065 * (1 - pow((baro_amsys_p)/1013.25 , 1/5.255)); diff --git a/sw/airborne/modules/sensors/baro_amsys.h b/sw/airborne/modules/sensors/baro_amsys.h index f6a3817d34..3afd01b3be 100644 --- a/sw/airborne/modules/sensors/baro_amsys.h +++ b/sw/airborne/modules/sensors/baro_amsys.h @@ -33,8 +33,8 @@ extern uint16_t baro_amsys_adc; // extern float baro_amsys_offset; -extern bool_t baro_amsys_valid; -extern bool_t baro_amsys_enabled; +extern bool baro_amsys_valid; +extern bool baro_amsys_enabled; extern float baro_amsys_altitude; extern float baro_amsys_r; extern float baro_amsys_sigma2; diff --git a/sw/airborne/modules/sensors/baro_bmp.c b/sw/airborne/modules/sensors/baro_bmp.c index eaa2d147cd..34625761da 100644 --- a/sw/airborne/modules/sensors/baro_bmp.c +++ b/sw/airborne/modules/sensors/baro_bmp.c @@ -51,7 +51,7 @@ struct Bmp085 baro_bmp; -bool_t baro_bmp_enabled; +bool baro_bmp_enabled; float baro_bmp_r; float baro_bmp_sigma2; int32_t baro_bmp_alt; @@ -63,7 +63,7 @@ void baro_bmp_init(void) baro_bmp_r = BARO_BMP_R; baro_bmp_sigma2 = BARO_BMP_SIGMA2; - baro_bmp_enabled = TRUE; + baro_bmp_enabled = true; } @@ -93,7 +93,7 @@ void baro_bmp_event(void) AbiSendMsgBARO_ABS(BARO_BMP_SENDER_ID, pressure); float temp = baro_bmp.temperature / 10.0f; AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, temp); - baro_bmp.data_available = FALSE; + baro_bmp.data_available = false; #ifdef SENSOR_SYNC_SEND DOWNLINK_SEND_BMP_STATUS(DefaultChannel, DefaultDevice, &baro_bmp.up, diff --git a/sw/airborne/modules/sensors/baro_bmp.h b/sw/airborne/modules/sensors/baro_bmp.h index aa56e10266..cd79f03893 100644 --- a/sw/airborne/modules/sensors/baro_bmp.h +++ b/sw/airborne/modules/sensors/baro_bmp.h @@ -38,7 +38,7 @@ extern struct Bmp085 baro_bmp; /// new measurement every 3rd baro_bmp_periodic #define BARO_BMP_DT (BARO_BMP_PERIODIC_PERIOD / 3) -extern bool_t baro_bmp_enabled; +extern bool baro_bmp_enabled; extern float baro_bmp_r; extern float baro_bmp_sigma2; extern int32_t baro_bmp_alt; diff --git a/sw/airborne/modules/sensors/baro_ets.c b/sw/airborne/modules/sensors/baro_ets.c index a5d667c2e1..b4d42943d5 100644 --- a/sw/airborne/modules/sensors/baro_ets.c +++ b/sw/airborne/modules/sensors/baro_ets.c @@ -102,20 +102,20 @@ PRINT_CONFIG_VAR(BARO_ETS_START_DELAY) // Global variables uint16_t baro_ets_adc; uint16_t baro_ets_offset; -bool_t baro_ets_valid; +bool baro_ets_valid; float baro_ets_altitude; -bool_t baro_ets_enabled; +bool baro_ets_enabled; float baro_ets_r; float baro_ets_sigma2; struct i2c_transaction baro_ets_i2c_trans; // Local variables -bool_t baro_ets_offset_init; +bool baro_ets_offset_init; uint32_t baro_ets_offset_tmp; uint16_t baro_ets_cnt; uint32_t baro_ets_delay_time; -bool_t baro_ets_delay_done; +bool baro_ets_delay_done; void baro_ets_init(void) { @@ -123,16 +123,16 @@ void baro_ets_init(void) baro_ets_altitude = 0.0; baro_ets_offset = 0; baro_ets_offset_tmp = 0; - baro_ets_valid = FALSE; - baro_ets_offset_init = FALSE; - baro_ets_enabled = TRUE; + baro_ets_valid = false; + baro_ets_offset_init = false; + baro_ets_enabled = true; baro_ets_cnt = BARO_ETS_OFFSET_NBSAMPLES_INIT + BARO_ETS_OFFSET_NBSAMPLES_AVRG; baro_ets_r = BARO_ETS_R; baro_ets_sigma2 = BARO_ETS_SIGMA2; baro_ets_i2c_trans.status = I2CTransDone; - baro_ets_delay_done = FALSE; + baro_ets_delay_done = false; SysTimeTimerStart(baro_ets_delay_time); } @@ -141,7 +141,7 @@ void baro_ets_read_periodic(void) // Initiate next read if (!baro_ets_delay_done) { if (SysTimeTimer(baro_ets_delay_time) < USEC_OF_SEC(BARO_ETS_START_DELAY)) { return; } - else { baro_ets_delay_done = TRUE; } + else { baro_ets_delay_done = true; } } if (baro_ets_i2c_trans.status == I2CTransDone) { i2c_receive(&BARO_ETS_I2C_DEV, &baro_ets_i2c_trans, BARO_ETS_ADDR, 2); @@ -154,9 +154,9 @@ void baro_ets_read_event(void) baro_ets_adc = ((uint16_t)(baro_ets_i2c_trans.buf[1]) << 8) | (uint16_t)(baro_ets_i2c_trans.buf[0]); // Check if this is valid altimeter if (baro_ets_adc == 0) { - baro_ets_valid = FALSE; + baro_ets_valid = false; } else { - baro_ets_valid = TRUE; + baro_ets_valid = true; } // Continue only if a new altimeter value was received @@ -175,7 +175,7 @@ void baro_ets_read_event(void) if (baro_ets_offset > BARO_ETS_OFFSET_MAX) { baro_ets_offset = BARO_ETS_OFFSET_MAX; } - baro_ets_offset_init = TRUE; + baro_ets_offset_init = true; } // Check if averaging needs to continue else if (baro_ets_cnt <= BARO_ETS_OFFSET_NBSAMPLES_AVRG) { diff --git a/sw/airborne/modules/sensors/baro_ets.h b/sw/airborne/modules/sensors/baro_ets.h index 3af6a94fb3..7da4e011b2 100644 --- a/sw/airborne/modules/sensors/baro_ets.h +++ b/sw/airborne/modules/sensors/baro_ets.h @@ -50,8 +50,8 @@ extern uint16_t baro_ets_adc; extern uint16_t baro_ets_offset; -extern bool_t baro_ets_valid; -extern bool_t baro_ets_enabled; +extern bool baro_ets_valid; +extern bool baro_ets_enabled; extern float baro_ets_altitude; extern float baro_ets_r; extern float baro_ets_sigma2; diff --git a/sw/airborne/modules/sensors/baro_hca.c b/sw/airborne/modules/sensors/baro_hca.c index 4c36172083..98286e7f71 100644 --- a/sw/airborne/modules/sensors/baro_hca.c +++ b/sw/airborne/modules/sensors/baro_hca.c @@ -53,7 +53,7 @@ // Global variables uint16_t pBaroRaw; -bool_t baro_hca_valid; +bool baro_hca_valid; float baro_hca_p; @@ -62,7 +62,7 @@ struct i2c_transaction baro_hca_i2c_trans; void baro_hca_init(void) { pBaroRaw = 0; - baro_hca_valid = TRUE; + baro_hca_valid = true; baro_hca_i2c_trans.status = I2CTransDone; } @@ -82,9 +82,9 @@ void baro_hca_read_event(void) pBaroRaw = ((uint16_t)baro_hca_i2c_trans.buf[0] << 8) | baro_hca_i2c_trans.buf[1]; if (pBaroRaw == 0) { - baro_hca_valid = FALSE; + baro_hca_valid = false; } else { - baro_hca_valid = TRUE; + baro_hca_valid = true; } diff --git a/sw/airborne/modules/sensors/baro_mpl3115.c b/sw/airborne/modules/sensors/baro_mpl3115.c index b8c35c54ec..0e1b633e72 100644 --- a/sw/airborne/modules/sensors/baro_mpl3115.c +++ b/sw/airborne/modules/sensors/baro_mpl3115.c @@ -70,7 +70,7 @@ void baro_mpl3115_read_event(void) #ifdef SENSOR_SYNC_SEND DOWNLINK_SEND_MPL3115_BARO(DefaultChannel, DefaultDevice, &baro_mpl.pressure, &baro_mpl.temperature, &baro_mpl.alt); #endif - baro_mpl.data_available = FALSE; + baro_mpl.data_available = false; } } diff --git a/sw/airborne/modules/sensors/baro_mpl3115.h b/sw/airborne/modules/sensors/baro_mpl3115.h index cb28ab4629..5c40040c68 100644 --- a/sw/airborne/modules/sensors/baro_mpl3115.h +++ b/sw/airborne/modules/sensors/baro_mpl3115.h @@ -33,6 +33,6 @@ extern void baro_mpl3115_init(void); extern void baro_mpl3115_read_periodic(void); extern void baro_mpl3115_read_event(void); -#define BaroMpl3115Update(_b, _h) { if (mpl3115_data_available) { _b = mpl3115_pressure; _h(); mpl3115_data_available = FALSE; } } +#define BaroMpl3115Update(_b, _h) { if (mpl3115_data_available) { _b = mpl3115_pressure; _h(); mpl3115_data_available = false; } } #endif diff --git a/sw/airborne/modules/sensors/baro_ms5611_i2c.c b/sw/airborne/modules/sensors/baro_ms5611_i2c.c index 2aeca5c956..5a23371cc9 100644 --- a/sw/airborne/modules/sensors/baro_ms5611_i2c.c +++ b/sw/airborne/modules/sensors/baro_ms5611_i2c.c @@ -50,8 +50,8 @@ struct Ms5611_I2c baro_ms5611; float fbaroms, ftempms; float baro_ms5611_alt; -bool_t baro_ms5611_alt_valid; -bool_t baro_ms5611_enabled; +bool baro_ms5611_alt_valid; +bool baro_ms5611_enabled; float baro_ms5611_r; float baro_ms5611_sigma2; @@ -61,8 +61,8 @@ void baro_ms5611_init(void) { ms5611_i2c_init(&baro_ms5611, &MS5611_I2C_DEV, MS5611_SLAVE_ADDR, FALSE); - baro_ms5611_enabled = TRUE; - baro_ms5611_alt_valid = FALSE; + baro_ms5611_enabled = true; + baro_ms5611_alt_valid = false; baro_ms5611_r = BARO_MS5611_R; baro_ms5611_sigma2 = BARO_MS5611_SIGMA2; @@ -97,10 +97,10 @@ void baro_ms5611_event(void) AbiSendMsgBARO_ABS(BARO_MS5611_SENDER_ID, pressure); float temp = baro_ms5611.data.temperature / 100.0f; AbiSendMsgTEMPERATURE(BARO_MS5611_SENDER_ID, temp); - baro_ms5611.data_available = FALSE; + baro_ms5611.data_available = false; baro_ms5611_alt = pprz_isa_altitude_of_pressure(pressure); - baro_ms5611_alt_valid = TRUE; + baro_ms5611_alt_valid = true; #ifdef SENSOR_SYNC_SEND fbaroms = baro_ms5611.data.pressure / 100.; diff --git a/sw/airborne/modules/sensors/baro_ms5611_i2c.h b/sw/airborne/modules/sensors/baro_ms5611_i2c.h index ac57cf2d8d..71615bdc46 100644 --- a/sw/airborne/modules/sensors/baro_ms5611_i2c.h +++ b/sw/airborne/modules/sensors/baro_ms5611_i2c.h @@ -12,8 +12,8 @@ extern float baro_ms5611_r; extern float baro_ms5611_sigma2; extern float baro_ms5611_alt; -extern bool_t baro_ms5611_alt_valid; -extern bool_t baro_ms5611_enabled; +extern bool baro_ms5611_alt_valid; +extern bool baro_ms5611_enabled; extern struct Ms5611_I2c baro_ms5611; diff --git a/sw/airborne/modules/sensors/baro_ms5611_spi.c b/sw/airborne/modules/sensors/baro_ms5611_spi.c index 768c8aa4d9..1f7ed49c28 100644 --- a/sw/airborne/modules/sensors/baro_ms5611_spi.c +++ b/sw/airborne/modules/sensors/baro_ms5611_spi.c @@ -49,8 +49,8 @@ struct Ms5611_Spi baro_ms5611; float fbaroms, ftempms; float baro_ms5611_alt; -bool_t baro_ms5611_alt_valid; -bool_t baro_ms5611_enabled; +bool baro_ms5611_alt_valid; +bool baro_ms5611_enabled; float baro_ms5611_r; float baro_ms5611_sigma2; @@ -60,8 +60,8 @@ void baro_ms5611_init(void) { ms5611_spi_init(&baro_ms5611, &MS5611_SPI_DEV, MS5611_SLAVE_IDX, FALSE); - baro_ms5611_enabled = TRUE; - baro_ms5611_alt_valid = FALSE; + baro_ms5611_enabled = true; + baro_ms5611_alt_valid = false; baro_ms5611_r = BARO_MS5611_R; baro_ms5611_sigma2 = BARO_MS5611_SIGMA2; @@ -97,10 +97,10 @@ void baro_ms5611_event(void) AbiSendMsgBARO_ABS(BARO_MS5611_SENDER_ID, pressure); float temp = baro_ms5611.data.temperature / 100.0f; AbiSendMsgTEMPERATURE(BARO_MS5611_SENDER_ID, temp); - baro_ms5611.data_available = FALSE; + baro_ms5611.data_available = false; baro_ms5611_alt = pprz_isa_altitude_of_pressure(pressure); - baro_ms5611_alt_valid = TRUE; + baro_ms5611_alt_valid = true; #ifdef SENSOR_SYNC_SEND fbaroms = baro_ms5611.data.pressure / 100.; diff --git a/sw/airborne/modules/sensors/baro_ms5611_spi.h b/sw/airborne/modules/sensors/baro_ms5611_spi.h index 43eb997e02..784b211140 100644 --- a/sw/airborne/modules/sensors/baro_ms5611_spi.h +++ b/sw/airborne/modules/sensors/baro_ms5611_spi.h @@ -40,8 +40,8 @@ extern float baro_ms5611_r; extern float baro_ms5611_sigma2; extern float baro_ms5611_alt; -extern bool_t baro_ms5611_alt_valid; -extern bool_t baro_ms5611_enabled; +extern bool baro_ms5611_alt_valid; +extern bool baro_ms5611_enabled; extern struct Ms5611_Spi baro_ms5611; diff --git a/sw/airborne/modules/sensors/baro_scp.c b/sw/airborne/modules/sensors/baro_scp.c index 05a819dc52..b30653fb18 100644 --- a/sw/airborne/modules/sensors/baro_scp.c +++ b/sw/airborne/modules/sensors/baro_scp.c @@ -24,7 +24,7 @@ uint8_t baro_scp_status; uint32_t baro_scp_pressure; uint16_t baro_scp_temperature; -bool_t baro_scp_available; +bool baro_scp_available; static void baro_scp_start_high_res_measurement(void); static void baro_scp_read(void); @@ -132,7 +132,7 @@ void SPI1_ISR(void) baro_scp_pressure += SSPDR; baro_scp_pressure += datard8; baro_scp_pressure *= 25; - baro_scp_available = TRUE; + baro_scp_available = true; foo1 = foo2; foo0 = foo2; } @@ -193,6 +193,6 @@ void baro_scp_event(void) #ifdef SENSOR_SYNC_SEND DOWNLINK_SEND_SCP_STATUS(DefaultChannel, DefaultDevice, &baro_scp_pressure, &baro_scp_temperature); #endif - baro_scp_available = FALSE; + baro_scp_available = false; } } diff --git a/sw/airborne/modules/sensors/baro_scp.h b/sw/airborne/modules/sensors/baro_scp.h index c69534ec0f..96bd0388e0 100644 --- a/sw/airborne/modules/sensors/baro_scp.h +++ b/sw/airborne/modules/sensors/baro_scp.h @@ -14,7 +14,7 @@ extern uint8_t baro_scp_status; extern uint32_t baro_scp_pressure; extern uint16_t baro_scp_temperature; -extern bool_t baro_scp_available; +extern bool baro_scp_available; void baro_scp_init(void); void baro_scp_periodic(void); diff --git a/sw/airborne/modules/sensors/imu_aspirin2.c b/sw/airborne/modules/sensors/imu_aspirin2.c index da5d39ddb3..669a975fac 100644 --- a/sw/airborne/modules/sensors/imu_aspirin2.c +++ b/sw/airborne/modules/sensors/imu_aspirin2.c @@ -228,7 +228,7 @@ void aspirin2_subsystem_event(void) VECT3_ASSIGN(imu.accel_unscaled, -x, y, -z); #endif - acc_valid = TRUE; + acc_valid = true; ppzuavimu_adxl345.status = I2CTransDone; } @@ -245,7 +245,7 @@ void aspirin2_subsystem_event(void) VECT3_ASSIGN(imu.mag_unscaled, -y, -x, -z); #endif - mag_valid = TRUE; + mag_valid = true; ppzuavimu_hmc5843.status = I2CTransDone; } */ diff --git a/sw/airborne/modules/sensors/mag_hmc5843.c b/sw/airborne/modules/sensors/mag_hmc5843.c index a47f5830b6..64d30e1bb8 100644 --- a/sw/airborne/modules/sensors/mag_hmc5843.c +++ b/sw/airborne/modules/sensors/mag_hmc5843.c @@ -27,7 +27,7 @@ int32_t mag_x, mag_y, mag_z; -bool_t mag_valid; +bool mag_valid; diff --git a/sw/airborne/modules/sensors/mag_hmc58xx.c b/sw/airborne/modules/sensors/mag_hmc58xx.c index 53eea05649..f38e046fbb 100644 --- a/sw/airborne/modules/sensors/mag_hmc58xx.c +++ b/sw/airborne/modules/sensors/mag_hmc58xx.c @@ -83,7 +83,7 @@ void mag_hmc58xx_module_event(void) mag_hmc58xx_report(); #endif #if MODULE_HMC58XX_UPDATE_AHRS || MODULE_HMC58XX_SYNC_SEND - mag_hmc58xx.data_available = FALSE; + mag_hmc58xx.data_available = false; #endif } } diff --git a/sw/airborne/modules/sensors/pressure_board_navarro.c b/sw/airborne/modules/sensors/pressure_board_navarro.c index 532e257149..26e8a8eaa9 100644 --- a/sw/airborne/modules/sensors/pressure_board_navarro.c +++ b/sw/airborne/modules/sensors/pressure_board_navarro.c @@ -86,7 +86,7 @@ void pbn_init(void) pbn.airspeed_offset = 0; pbn.airspeed_adc = 0; pbn.altitude_adc = 0; - pbn.data_valid = TRUE; + pbn.data_valid = true; offset_cnt = OFFSET_NBSAMPLES_AVRG; pbn.airspeed = 0.; pbn.altitude = 0.; @@ -119,9 +119,9 @@ void pbn_read_event(void) // Consider 0 as a wrong value if (pbn.airspeed_adc == 0 || pbn.altitude_adc == 0) { - pbn.data_valid = FALSE; + pbn.data_valid = false; } else { - pbn.data_valid = TRUE; + pbn.data_valid = true; if (offset_cnt > 0) { // IIR filter to compute an initial offset diff --git a/sw/airborne/modules/sensors/pressure_board_navarro.h b/sw/airborne/modules/sensors/pressure_board_navarro.h index f8f1eb6593..efa352dbfd 100644 --- a/sw/airborne/modules/sensors/pressure_board_navarro.h +++ b/sw/airborne/modules/sensors/pressure_board_navarro.h @@ -46,7 +46,7 @@ struct PBNState { float altitude; float airspeed; float airspeed_filter; - bool_t data_valid; + bool data_valid; }; extern struct PBNState pbn; diff --git a/sw/airborne/modules/sensors/temp_adc.h b/sw/airborne/modules/sensors/temp_adc.h index 4de27274fb..64da048e49 100644 --- a/sw/airborne/modules/sensors/temp_adc.h +++ b/sw/airborne/modules/sensors/temp_adc.h @@ -29,7 +29,7 @@ #include "std.h" /// flag to enable sending every new measurement via telemetry -bool_t temp_adc_sync_send; +bool temp_adc_sync_send; float calc_ntc(int16_t raw_temp); float calc_lm35(int16_t raw_temp); diff --git a/sw/airborne/modules/sensors/trigger_ext.c b/sw/airborne/modules/sensors/trigger_ext.c index b8581429c3..ad03829cc8 100644 --- a/sw/airborne/modules/sensors/trigger_ext.c +++ b/sw/airborne/modules/sensors/trigger_ext.c @@ -58,7 +58,7 @@ void trigger_ext_periodic(void) &turb_id, &sync_itow, &cycle_time); - trig_ext_valid = FALSE; + trig_ext_valid = false; } } diff --git a/sw/airborne/modules/servo_switch/servo_switch.c b/sw/airborne/modules/servo_switch/servo_switch.c index b3025728fc..aa13e080b2 100644 --- a/sw/airborne/modules/servo_switch/servo_switch.c +++ b/sw/airborne/modules/servo_switch/servo_switch.c @@ -23,7 +23,7 @@ #include "generated/airframe.h" #include "subsystems/actuators.h" -bool_t servo_switch_on; +bool servo_switch_on; // One level of macro stack to allow redefinition of the default servo #define _ServoSwitch(_n, _v) ActuatorSet(_n, _v) @@ -31,7 +31,7 @@ bool_t servo_switch_on; void servo_switch_init(void) { - servo_switch_on = FALSE; + servo_switch_on = false; servo_switch_periodic(); } diff --git a/sw/airborne/modules/servo_switch/servo_switch.h b/sw/airborne/modules/servo_switch/servo_switch.h index 2c2a187131..9704e9af7d 100644 --- a/sw/airborne/modules/servo_switch/servo_switch.h +++ b/sw/airborne/modules/servo_switch/servo_switch.h @@ -26,7 +26,7 @@ #include "paparazzi.h" #include "generated/airframe.h" -extern bool_t servo_switch_on; +extern bool servo_switch_on; extern int16_t servo_switch_value; #ifndef SERVO_SWITCH_ON_VALUE @@ -43,8 +43,8 @@ extern int16_t servo_switch_value; extern void servo_switch_init(void); extern void servo_switch_periodic(void); -#define ServoSwitchOn() ({ servo_switch_on = TRUE; FALSE; }) -#define ServoSwitchOff() ({ servo_switch_on = FALSE; FALSE; }) +#define ServoSwitchOn() ({ servo_switch_on = true; false; }) +#define ServoSwitchOff() ({ servo_switch_on = false; false; }) #endif //SERVO_SWITCH_H diff --git a/sw/airborne/modules/sonar/agl_dist.c b/sw/airborne/modules/sonar/agl_dist.c index 724f864e5a..10d3d28f85 100644 --- a/sw/airborne/modules/sonar/agl_dist.c +++ b/sw/airborne/modules/sonar/agl_dist.c @@ -54,7 +54,7 @@ static void sonar_cb(uint8_t sender_id, float distance); void agl_dist_init(void) { - agl_dist_valid = FALSE; + agl_dist_valid = false; agl_dist_value = 0.; agl_dist_value_filtered = 0.; @@ -67,11 +67,11 @@ static void sonar_cb(uint8_t __attribute__((unused)) sender_id, float distance) { if (distance < AGL_DIST_SONAR_MAX_RANGE && distance > AGL_DIST_SONAR_MIN_RANGE) { agl_dist_value = distance; - agl_dist_valid = TRUE; + agl_dist_valid = true; agl_dist_value_filtered = (AGL_DIST_SONAR_FILTER * agl_dist_value_filtered + agl_dist_value) / (AGL_DIST_SONAR_FILTER + 1); } else { - agl_dist_valid = FALSE; + agl_dist_valid = false; } } diff --git a/sw/airborne/modules/stereocam/droplet/stereocam_droplet.c b/sw/airborne/modules/stereocam/droplet/stereocam_droplet.c index c958d71d09..5c6a6da15b 100644 --- a/sw/airborne/modules/stereocam/droplet/stereocam_droplet.c +++ b/sw/airborne/modules/stereocam/droplet/stereocam_droplet.c @@ -113,13 +113,13 @@ void stereocam_droplet_periodic(void) // Results DOWNLINK_SEND_PAYLOAD(DefaultChannel, DefaultDevice, 1, avoid_navigation_data.stereo_bin); - volatile bool_t once = TRUE; + volatile bool once = true; // Move waypoint with constant speed in current direction if ( (avoid_navigation_data.stereo_bin[0] == 97) || (avoid_navigation_data.stereo_bin[0] == 100) ) { - once = TRUE; + once = true; struct EnuCoor_f enu; enu.x = waypoint_get_x(WP_GOAL); enu.y = waypoint_get_y(WP_GOAL); @@ -133,10 +133,10 @@ void stereocam_droplet_periodic(void) // STOP!!! if (once) { NavSetWaypointHere(WP_GOAL); - once = FALSE; + once = false; } } else { - once = TRUE; + once = true; } diff --git a/sw/airborne/modules/stereocam/nav_line_avoid/avoid_navigation.c b/sw/airborne/modules/stereocam/nav_line_avoid/avoid_navigation.c index 35104332cf..a2148cb4db 100644 --- a/sw/airborne/modules/stereocam/nav_line_avoid/avoid_navigation.c +++ b/sw/airborne/modules/stereocam/nav_line_avoid/avoid_navigation.c @@ -54,7 +54,7 @@ struct AvoidNavigationStruct avoid_navigation_data; -bool_t obstacle_detected = FALSE; +bool obstacle_detected = false; int32_t counter = 0; // Called once on paparazzi autopilot start @@ -78,7 +78,7 @@ void run_avoid_navigation_onvision(void) if (counter > 1) { counter = 0; //Obstacle detected, go to turn until clear mode - obstacle_detected = TRUE; + obstacle_detected = true; avoid_navigation_data.mode = 1; } } else { @@ -100,7 +100,7 @@ void run_avoid_navigation_onvision(void) new_coor.y = pos->y + POS_BFP_OF_REAL(cos_heading * (NAV_LINE_AVOID_SEGMENT_LENGTH)); new_coor.z = pos->z; waypoint_set_xy_i(WP_W1, new_coor.x, new_coor.y); - obstacle_detected = FALSE; + obstacle_detected = false; avoid_navigation_data.mode = 0; } } else { diff --git a/sw/airborne/modules/stereocam/nav_line_avoid/avoid_navigation.h b/sw/airborne/modules/stereocam/nav_line_avoid/avoid_navigation.h index 094f2bbb7e..c1734b5d73 100644 --- a/sw/airborne/modules/stereocam/nav_line_avoid/avoid_navigation.h +++ b/sw/airborne/modules/stereocam/nav_line_avoid/avoid_navigation.h @@ -47,7 +47,7 @@ struct AvoidNavigationStruct { /** global VIDEO state */ extern struct AvoidNavigationStruct avoid_navigation_data; -extern bool_t obstacle_detected; +extern bool obstacle_detected; void init_avoid_navigation(void); void run_avoid_navigation_onvision(void); diff --git a/sw/airborne/modules/vehicle_interface/vi.c b/sw/airborne/modules/vehicle_interface/vi.c index 3665570a85..9506ff5b37 100644 --- a/sw/airborne/modules/vehicle_interface/vi.c +++ b/sw/airborne/modules/vehicle_interface/vi.c @@ -36,8 +36,8 @@ struct VehicleInterface vi; void vi_init(void) { - vi.enabled = FALSE; - vi.timeouted = TRUE; + vi.enabled = false; + vi.timeouted = true; vi.last_msg = VI_TIMEOUT; vi.input.h_mode = GUIDANCE_H_MODE_ATTITUDE; @@ -54,7 +54,7 @@ void vi_periodic(void) if (vi.last_msg < VI_TIMEOUT) { vi.last_msg++; } else { - vi.timeouted = TRUE; + vi.timeouted = true; vi.input.h_mode = GUIDANCE_H_MODE_ATTITUDE; INT_EULERS_ZERO(vi.input.h_sp.attitude); vi.input.v_mode = GUIDANCE_V_MODE_CLIMB; @@ -64,7 +64,7 @@ void vi_periodic(void) vi_impl_periodic(); } -void vi_set_enabled(bool_t enabled) +void vi_set_enabled(bool enabled) { vi_impl_set_enabled(enabled); diff --git a/sw/airborne/modules/vehicle_interface/vi.h b/sw/airborne/modules/vehicle_interface/vi.h index 576ce96d9a..c2f6403350 100644 --- a/sw/airborne/modules/vehicle_interface/vi.h +++ b/sw/airborne/modules/vehicle_interface/vi.h @@ -75,8 +75,8 @@ struct Vi_command { }; struct VehicleInterface { - bool_t enabled; - bool_t timeouted; + bool enabled; + bool timeouted; uint8_t last_msg; struct Vi_info info; struct Vi_command input; @@ -86,7 +86,7 @@ struct VehicleInterface { extern struct VehicleInterface vi; extern void vi_init(void); -extern void vi_set_enabled(bool_t enabled); +extern void vi_set_enabled(bool enabled); extern void vi_periodic(void); extern void vi_update_info(void); @@ -98,7 +98,7 @@ extern void vi_notify_baro_abs_available(void); /* must be implemented by specific module */ extern void vi_impl_init(void); extern void vi_impl_periodic(void); -extern void vi_impl_set_enabled(bool_t enabled); +extern void vi_impl_set_enabled(bool enabled); #define vi_SetEnabled(_val) { \ diff --git a/sw/airborne/modules/vehicle_interface/vi_datalink.c b/sw/airborne/modules/vehicle_interface/vi_datalink.c index 183740f517..ba58162344 100644 --- a/sw/airborne/modules/vehicle_interface/vi_datalink.c +++ b/sw/airborne/modules/vehicle_interface/vi_datalink.c @@ -29,7 +29,7 @@ void vi_impl_periodic(void) { } -void vi_impl_set_enabled(bool_t enabled __attribute__((unused))) +void vi_impl_set_enabled(bool enabled __attribute__((unused))) { } diff --git a/sw/airborne/modules/vehicle_interface/vi_test_signal.c b/sw/airborne/modules/vehicle_interface/vi_test_signal.c index ee2615a0c0..6af01bc944 100644 --- a/sw/airborne/modules/vehicle_interface/vi_test_signal.c +++ b/sw/airborne/modules/vehicle_interface/vi_test_signal.c @@ -84,7 +84,7 @@ void booz_fms_impl_periodic(void) } } -void booz_fms_impl_set_enabled(bool_t enabled) +void booz_fms_impl_set_enabled(bool enabled) { if (enabled) { fms_test_signal.counter = 0; diff --git a/sw/airborne/peripherals/ads1114.c b/sw/airborne/peripherals/ads1114.c index 55867bfeaa..c33899698a 100644 --- a/sw/airborne/peripherals/ads1114.c +++ b/sw/airborne/peripherals/ads1114.c @@ -43,8 +43,8 @@ void ads1114_init(void) ads1114_1.trans.buf[1] = ADS1114_1_CONFIG_MSB; ads1114_1.trans.buf[2] = ADS1114_1_CONFIG_LSB; i2c_transmit(&ADS1114_I2C_DEV, &ads1114_1.trans, ADS1114_1_I2C_ADDR, 3); - ads1114_1.config_done = FALSE; - ads1114_1.data_available = FALSE; + ads1114_1.config_done = false; + ads1114_1.data_available = false; #endif /* configure the ads1114_2 */ @@ -54,8 +54,8 @@ void ads1114_init(void) ads1114_2.trans.buf[1] = ADS1114_2_CONFIG_MSB; ads1114_2.trans.buf[2] = ADS1114_2_CONFIG_LSB; i2c_transmit(&ADS1114_I2C_DEV, &ads1114_2.trans, ADS1114_2_I2C_ADDR, 3); - ads1114_2.config_done = FALSE; - ads1114_2.data_available = FALSE; + ads1114_2.config_done = false; + ads1114_2.data_available = false; #endif } diff --git a/sw/airborne/peripherals/ads1114.h b/sw/airborne/peripherals/ads1114.h index 42107279cb..291b2839fd 100644 --- a/sw/airborne/peripherals/ads1114.h +++ b/sw/airborne/peripherals/ads1114.h @@ -116,8 +116,8 @@ struct ads1114_periph { struct i2c_transaction trans; uint8_t i2c_addr; - bool_t config_done; - bool_t data_available; + bool config_done; + bool data_available; }; #if USE_ADS1114_1 @@ -134,10 +134,10 @@ extern void ads1114_read(struct ads1114_periph *p); // Generic Event Macro #define _Ads1114Event(_p) {\ if (!_p.config_done) { \ - if (_p.trans.status == I2CTransSuccess) { _p.config_done = TRUE; _p.trans.status = I2CTransDone; } \ + if (_p.trans.status == I2CTransSuccess) { _p.config_done = true; _p.trans.status = I2CTransDone; } \ if (_p.trans.status == I2CTransFailed) { _p.trans.status = I2CTransDone; } \ } else { \ - if (_p.trans.status == I2CTransSuccess) { _p.data_available = TRUE; _p.trans.status = I2CTransDone; } \ + if (_p.trans.status == I2CTransSuccess) { _p.data_available = true; _p.trans.status = I2CTransDone; } \ if (_p.trans.status == I2CTransFailed) { _p.trans.status = I2CTransDone; } \ } \ } diff --git a/sw/airborne/peripherals/ads1220.c b/sw/airborne/peripherals/ads1220.c index 25dc1336d7..6ffcb2ded1 100644 --- a/sw/airborne/peripherals/ads1220.c +++ b/sw/airborne/peripherals/ads1220.c @@ -71,7 +71,7 @@ void ads1220_init(struct Ads1220 *ads, struct spi_periph *spi_p, uint8_t slave_i ads->spi_trans.status = SPITransDone; ads->data = 0; - ads->data_available = FALSE; + ads->data_available = false; ads->config.status = ADS1220_UNINIT; } @@ -135,7 +135,7 @@ void ads1220_event(struct Ads1220 *ads) } else if (ads->spi_trans.status == SPITransSuccess) { // Successfull reading of 24bits adc ads->data = (uint32_t)(((uint32_t)(ads->rx_buf[0]) << 16) | ((uint32_t)(ads->rx_buf[1]) << 8) | (ads->rx_buf[2])); - ads->data_available = TRUE; + ads->data_available = true; ads->spi_trans.status = SPITransDone; } } else if (ads->config.status == ADS1220_SEND_RESET) { // Reset ads1220 before configuring diff --git a/sw/airborne/peripherals/ads1220.h b/sw/airborne/peripherals/ads1220.h index 40e5279273..6e687f899e 100644 --- a/sw/airborne/peripherals/ads1220.h +++ b/sw/airborne/peripherals/ads1220.h @@ -130,7 +130,7 @@ struct Ads1220Config { enum Ads1220ConfStatus status; ///< config status enum Ads1220Mux mux; ///< input multiplexer enum Ads1220Gain gain; ///< gain - bool_t pga_bypass; ///< bypass PGA (PGA enabled = 0) + bool pga_bypass; ///< bypass PGA (PGA enabled = 0) enum Ads1220SampleRate rate; ///< data output rate enum Ads1220ConvMode conv; ///< conversion mode enum Ads1220VRef vref; ///< voltage ref @@ -158,7 +158,7 @@ struct Ads1220 { struct Ads1220Config config; ///< configuration // Data uint32_t data; ///< raw ADC value - volatile bool_t data_available; ///< data ready flag + volatile bool data_available; ///< data ready flag }; // Functions diff --git a/sw/airborne/peripherals/adxl345.h b/sw/airborne/peripherals/adxl345.h index cfedad8bd8..5c0688957d 100644 --- a/sw/airborne/peripherals/adxl345.h +++ b/sw/airborne/peripherals/adxl345.h @@ -43,24 +43,24 @@ enum Adxl345ConfStatus { }; struct Adxl345Config { - bool_t drdy_int_enable; ///< Enable Data Ready Interrupt - bool_t int_invert; ///< Invert Interrupt FALSE: active high, TRUE: active low - bool_t full_res; ///< Full Resolution: FALSE: 10bit, TRUE: full with 4mg/LSB - bool_t justify_msb; ///< justify: FALSE: right with sign-extension, TRUE: MSB (left) - bool_t self_test; ///< Enable self-test-force causing shift in output data. - bool_t spi_3_wire; ///< Set 3-wire SPI mode, if FALSE: 4-wire SPI mode + bool drdy_int_enable; ///< Enable Data Ready Interrupt + bool int_invert; ///< Invert Interrupt FALSE: active high, TRUE: active low + bool full_res; ///< Full Resolution: FALSE: 10bit, TRUE: full with 4mg/LSB + bool justify_msb; ///< justify: FALSE: right with sign-extension, TRUE: MSB (left) + bool self_test; ///< Enable self-test-force causing shift in output data. + bool spi_3_wire; ///< Set 3-wire SPI mode, if FALSE: 4-wire SPI mode enum Adxl345Ranges range; ///< g Range enum Adxl345Rates rate; ///< Data Output Rate }; static inline void adxl345_set_default_config(struct Adxl345Config *c) { - c->drdy_int_enable = FALSE; - c->int_invert = TRUE; - c->full_res = TRUE; - c->justify_msb = FALSE; - c->self_test = FALSE; - c->spi_3_wire = FALSE; + c->drdy_int_enable = false; + c->int_invert = true; + c->full_res = true; + c->justify_msb = false; + c->self_test = false; + c->spi_3_wire = false; c->rate = ADXL345_RATE_100HZ; c->range = ADXL345_RANGE_16G; diff --git a/sw/airborne/peripherals/adxl345_i2c.c b/sw/airborne/peripherals/adxl345_i2c.c index 5732a0ae16..0e94bafe0f 100644 --- a/sw/airborne/peripherals/adxl345_i2c.c +++ b/sw/airborne/peripherals/adxl345_i2c.c @@ -42,7 +42,7 @@ void adxl345_i2c_init(struct Adxl345_I2c *adxl, struct i2c_periph *i2c_p, uint8_ adxl->i2c_trans.status = I2CTransDone; /* set default config options */ adxl345_set_default_config(&(adxl->config)); - adxl->initialized = FALSE; + adxl->initialized = false; adxl->init_status = ADXL_CONF_UNINIT; } @@ -78,7 +78,7 @@ static void adxl345_i2c_send_config(struct Adxl345_I2c *adxl) adxl->init_status++; break; case ADXL_CONF_DONE: - adxl->initialized = TRUE; + adxl->initialized = true; adxl->i2c_trans.status = I2CTransDone; break; default: @@ -121,7 +121,7 @@ void adxl345_i2c_event(struct Adxl345_I2c *adxl) adxl->data.vect.x = Int16FromBuf(adxl->i2c_trans.buf, 0); adxl->data.vect.y = Int16FromBuf(adxl->i2c_trans.buf, 2); adxl->data.vect.z = Int16FromBuf(adxl->i2c_trans.buf, 4); - adxl->data_available = TRUE; + adxl->data_available = true; adxl->i2c_trans.status = I2CTransDone; } } else if (adxl->init_status != ADXL_CONF_UNINIT) { // Configuring but not yet initialized diff --git a/sw/airborne/peripherals/adxl345_i2c.h b/sw/airborne/peripherals/adxl345_i2c.h index 2bbd51f709..bd14e77d50 100644 --- a/sw/airborne/peripherals/adxl345_i2c.h +++ b/sw/airborne/peripherals/adxl345_i2c.h @@ -40,8 +40,8 @@ struct Adxl345_I2c { struct i2c_periph *i2c_p; struct i2c_transaction i2c_trans; enum Adxl345ConfStatus init_status; ///< init status - bool_t initialized; ///< config done flag - volatile bool_t data_available; ///< data ready flag + bool initialized; ///< config done flag + volatile bool data_available; ///< data ready flag union { struct Int16Vect3 vect; ///< data vector in accel coordinate system int16_t value[3]; ///< data values accessible by channel index diff --git a/sw/airborne/peripherals/adxl345_spi.c b/sw/airborne/peripherals/adxl345_spi.c index 6447b29adb..f2b8021d89 100644 --- a/sw/airborne/peripherals/adxl345_spi.c +++ b/sw/airborne/peripherals/adxl345_spi.c @@ -60,8 +60,8 @@ void adxl345_spi_init(struct Adxl345_Spi *adxl, struct spi_periph *spi_p, uint8_ /* set default ADXL345 config options */ adxl345_set_default_config(&(adxl->config)); - adxl->initialized = FALSE; - adxl->data_available = FALSE; + adxl->initialized = false; + adxl->data_available = false; adxl->init_status = ADXL_CONF_UNINIT; } @@ -97,7 +97,7 @@ static void adxl345_spi_send_config(struct Adxl345_Spi *adxl) adxl->init_status++; break; case ADXL_CONF_DONE: - adxl->initialized = TRUE; + adxl->initialized = true; adxl->spi_trans.status = SPITransDone; break; default: @@ -138,7 +138,7 @@ void adxl345_spi_event(struct Adxl345_Spi *adxl) adxl->data.vect.x = Int16FromBuf(adxl->rx_buf, 1); adxl->data.vect.y = Int16FromBuf(adxl->rx_buf, 3); adxl->data.vect.z = Int16FromBuf(adxl->rx_buf, 5); - adxl->data_available = TRUE; + adxl->data_available = true; adxl->spi_trans.status = SPITransDone; } } else if (adxl->init_status != ADXL_CONF_UNINIT) { // Configuring but not yet initialized diff --git a/sw/airborne/peripherals/adxl345_spi.h b/sw/airborne/peripherals/adxl345_spi.h index fc4139a754..bb391ea3e7 100644 --- a/sw/airborne/peripherals/adxl345_spi.h +++ b/sw/airborne/peripherals/adxl345_spi.h @@ -42,8 +42,8 @@ struct Adxl345_Spi { volatile uint8_t tx_buf[7]; volatile uint8_t rx_buf[7]; enum Adxl345ConfStatus init_status; ///< init status - bool_t initialized; ///< config done flag - volatile bool_t data_available; ///< data ready flag + bool initialized; ///< config done flag + volatile bool data_available; ///< data ready flag union { struct Int16Vect3 vect; ///< data vector in accel coordinate system int16_t value[3]; ///< data values accessible by channel index diff --git a/sw/airborne/peripherals/ak8963.c b/sw/airborne/peripherals/ak8963.c index 3033048e7a..db9f1af394 100644 --- a/sw/airborne/peripherals/ak8963.c +++ b/sw/airborne/peripherals/ak8963.c @@ -38,9 +38,9 @@ void ak8963_init(struct Ak8963 *ak, struct i2c_periph *i2c_p, uint8_t addr) /* set i2c address */ ak->i2c_trans.slave_addr = addr; ak->i2c_trans.status = I2CTransDone; - ak->initialized = FALSE; + ak->initialized = false; ak->init_status = AK_CONF_UNINIT; - ak->data_available = FALSE; + ak->data_available = false; } void ak8963_configure(struct Ak8963 *ak) @@ -75,7 +75,7 @@ void ak8963_configure(struct Ak8963 *ak) // Initialization done default: - ak->initialized = TRUE; + ak->initialized = true; break; } } @@ -114,7 +114,7 @@ void ak8963_event(struct Ak8963 *ak) ak->data.vect.x = Int16FromBuf(ak->i2c_trans.buf, 0); ak->data.vect.y = Int16FromBuf(ak->i2c_trans.buf, 2); ak->data.vect.z = Int16FromBuf(ak->i2c_trans.buf, 4); - ak->data_available = TRUE; + ak->data_available = true; // Read second status register to be ready for reading again ak->i2c_trans.buf[0] = AK8963_REG_ST2; @@ -132,9 +132,9 @@ void ak8963_event(struct Ak8963 *ak) ak->status = AK_STATUS_IDLE; // check overrun //if (bit_is_set(ak->i2c_trans.buf[0], 3)) { - // ak->data_available = FALSE; + // ak->data_available = false; //} else { - // ak->data_available = TRUE; + // ak->data_available = true; //} } break; diff --git a/sw/airborne/peripherals/ak8963.h b/sw/airborne/peripherals/ak8963.h index 92db595306..3ab7a7eee4 100644 --- a/sw/airborne/peripherals/ak8963.h +++ b/sw/airborne/peripherals/ak8963.h @@ -53,12 +53,12 @@ enum Ak8963Status { struct Ak8963 { struct i2c_periph *i2c_p; ///< peripheral used for communcation struct i2c_transaction i2c_trans; ///< i2c transaction used for communication with the ak8936 - bool_t initialized; ///< config done flag + bool initialized; ///< config done flag enum Ak8963Status status; ///< main status enum Ak8963ConfStatus init_status; ///< init status - volatile bool_t data_available; ///< data ready flag + volatile bool data_available; ///< data ready flag union { struct Int16Vect3 vect; ///< data vector in mag coordinate system int16_t value[3]; ///< data values accessible by channel index diff --git a/sw/airborne/peripherals/ak8975.c b/sw/airborne/peripherals/ak8975.c index 4a2f972c8d..e73b2fe3df 100644 --- a/sw/airborne/peripherals/ak8975.c +++ b/sw/airborne/peripherals/ak8975.c @@ -53,10 +53,10 @@ void ak8975_init(struct Ak8975 *ak, struct i2c_periph *i2c_p, uint8_t addr) ak->i2c_trans.status = I2CTransDone; - ak->initialized = FALSE; + ak->initialized = false; ak->status = AK_STATUS_IDLE; ak->init_status = AK_CONF_UNINIT; - ak->data_available = FALSE; + ak->data_available = false; } // Configure @@ -102,7 +102,7 @@ void ak8975_configure(struct Ak8975 *ak) break; case AK_CONF_REQUESTED: - ak->initialized = TRUE; + ak->initialized = true; break; default: @@ -159,9 +159,9 @@ void ak8975_event(struct Ak8975 *ak) // 1 byte // Read status and error bytes - const bool_t dr = ak->i2c_trans.buf[0] & 0x01; // data ready - const bool_t de = ak->i2c_trans.buf[7] & 0x04; // data error - const bool_t mo = ak->i2c_trans.buf[7] & 0x08; // mag overflow + const bool dr = ak->i2c_trans.buf[0] & 0x01; // data ready + const bool de = ak->i2c_trans.buf[7] & 0x04; // data error + const bool mo = ak->i2c_trans.buf[7] & 0x08; // mag overflow if (de || !dr) { // read error or data not ready, keep reading break; @@ -178,7 +178,7 @@ void ak8975_event(struct Ak8975 *ak) ak->data.vect.y = Int16FromRaw(val); val = RawFromBuf(ak->i2c_trans.buf, 5); ak->data.vect.z = Int16FromRaw(val); - ak->data_available = TRUE; + ak->data_available = true; // End reading, back to idle ak->status = AK_STATUS_IDLE; break; diff --git a/sw/airborne/peripherals/ak8975.h b/sw/airborne/peripherals/ak8975.h index bf06c8fcc5..02e03a17b3 100644 --- a/sw/airborne/peripherals/ak8975.h +++ b/sw/airborne/peripherals/ak8975.h @@ -59,13 +59,13 @@ enum Ak8975Status { struct Ak8975 { struct i2c_periph *i2c_p; ///< peripheral used for communcation struct i2c_transaction i2c_trans; ///< i2c transaction used for communication with the ak8936 - bool_t initialized; ///< config done flag + bool initialized; ///< config done flag enum Ak8975Status status; ///< main status enum Ak8975ConfStatus init_status; ///< init status uint32_t last_meas_time; ///< last measurement time in ms - volatile bool_t data_available; ///< data ready flag + volatile bool data_available; ///< data ready flag union { struct Int16Vect3 vect; ///< data vector in mag coordinate system int16_t value[3]; ///< data values accessible by channel index diff --git a/sw/airborne/peripherals/bmp085.c b/sw/airborne/peripherals/bmp085.c index 0d3d55f1dc..74a2aa082c 100644 --- a/sw/airborne/peripherals/bmp085.c +++ b/sw/airborne/peripherals/bmp085.c @@ -64,16 +64,16 @@ static int32_t bmp085_compensated_pressure(struct Bmp085Calib *calib, int32_t ra * Dummy function to always return TRUE on EndOfConversion check. * Ensure proper timing trough frequency of bmp085_periodic instead! */ -static bool_t bmp085_eoc_true(void) +static bool bmp085_eoc_true(void) { - return TRUE; + return true; } void bmp085_read_eeprom_calib(struct Bmp085 *bmp) { if (bmp->status == BMP085_STATUS_UNINIT && bmp->i2c_trans.status == I2CTransDone) { - bmp->initialized = FALSE; + bmp->initialized = false; bmp->i2c_trans.buf[0] = BMP085_EEPROM_AC1; i2c_transceive(bmp->i2c_p, &(bmp->i2c_trans), bmp->i2c_trans.slave_addr, 1, 22); } @@ -90,8 +90,8 @@ void bmp085_init(struct Bmp085 *bmp, struct i2c_periph *i2c_p, uint8_t addr) /* set initial status: Success or Done */ bmp->i2c_trans.status = I2CTransDone; - bmp->data_available = FALSE; - bmp->initialized = FALSE; + bmp->data_available = false; + bmp->initialized = false; bmp->status = BMP085_STATUS_UNINIT; /* by default assign EOC function that always returns TRUE @@ -156,7 +156,7 @@ void bmp085_event(struct Bmp085 *bmp) bmp->calib.mc = (bmp->i2c_trans.buf[18] << 8) | bmp->i2c_trans.buf[19]; bmp->calib.md = (bmp->i2c_trans.buf[20] << 8) | bmp->i2c_trans.buf[21]; bmp->status = BMP085_STATUS_IDLE; - bmp->initialized = TRUE; + bmp->initialized = true; break; case BMP085_STATUS_READ_TEMP: @@ -177,7 +177,7 @@ void bmp085_event(struct Bmp085 *bmp) bmp->i2c_trans.buf[2]; bmp->up = bmp->up >> (8 - BMP085_OSS); bmp->pressure = bmp085_compensated_pressure(&(bmp->calib), bmp->up); - bmp->data_available = TRUE; + bmp->data_available = true; bmp->status = BMP085_STATUS_IDLE; break; diff --git a/sw/airborne/peripherals/bmp085.h b/sw/airborne/peripherals/bmp085.h index eab6924d03..3722d743f5 100644 --- a/sw/airborne/peripherals/bmp085.h +++ b/sw/airborne/peripherals/bmp085.h @@ -57,15 +57,15 @@ struct Bmp085Calib { int32_t b5; }; -typedef bool_t (*Bmp085EOC)(void); +typedef bool (*Bmp085EOC)(void); struct Bmp085 { struct i2c_periph *i2c_p; struct i2c_transaction i2c_trans; Bmp085EOC eoc; ///< function to check End Of Conversion enum Bmp085Status status; ///< state machine status - bool_t initialized; ///< config done flag - volatile bool_t data_available; ///< data ready flag + bool initialized; ///< config done flag + volatile bool data_available; ///< data ready flag struct Bmp085Calib calib; int32_t ut; ///< uncompensated temperature int32_t up; ///< uncompensated pressure diff --git a/sw/airborne/peripherals/cyrf6936.c b/sw/airborne/peripherals/cyrf6936.c index ef7593bf27..33e73f3e60 100644 --- a/sw/airborne/peripherals/cyrf6936.c +++ b/sw/airborne/peripherals/cyrf6936.c @@ -35,11 +35,11 @@ #include "subsystems/datalink/downlink.h" /* Static functions used in the different statuses */ -static bool_t cyrf6936_write_register(struct Cyrf6936 *cyrf, const uint8_t addr, const uint8_t data); -static bool_t cyrf6936_write_block(struct Cyrf6936 *cyrf, const uint8_t addr, const uint8_t data[], +static bool cyrf6936_write_register(struct Cyrf6936 *cyrf, const uint8_t addr, const uint8_t data); +static bool cyrf6936_write_block(struct Cyrf6936 *cyrf, const uint8_t addr, const uint8_t data[], const uint8_t length); -static bool_t cyrf6936_read_register(struct Cyrf6936 *cyrf, const uint8_t addr); -static bool_t cyrf6936_read_block(struct Cyrf6936 *cyrf, const uint8_t addr, const uint8_t length); +static bool cyrf6936_read_register(struct Cyrf6936 *cyrf, const uint8_t addr); +static bool cyrf6936_read_block(struct Cyrf6936 *cyrf, const uint8_t addr, const uint8_t length); /** * Initializing the cyrf chip @@ -50,7 +50,7 @@ void cyrf6936_init(struct Cyrf6936 *cyrf, struct spi_periph *spi_p, const uint8_ /* Set spi_peripheral and the status */ cyrf->spi_p = spi_p; cyrf->status = CYRF6936_UNINIT; - cyrf->has_irq = FALSE; + cyrf->has_irq = false; /* Set the spi transaction */ cyrf->spi_t.cpol = SPICpolIdleLow; @@ -223,7 +223,7 @@ void cyrf6936_event(struct Cyrf6936 *cyrf) cyrf->rx_packet[i] = cyrf->input_buf[i + 1]; } - cyrf->has_irq = TRUE; + cyrf->has_irq = true; cyrf->status = CYRF6936_IDLE; break; } @@ -267,7 +267,7 @@ void cyrf6936_event(struct Cyrf6936 *cyrf) /** * Write a byte to a register */ -static bool_t cyrf6936_write_register(struct Cyrf6936 *cyrf, const uint8_t addr, const uint8_t data) +static bool cyrf6936_write_register(struct Cyrf6936 *cyrf, const uint8_t addr, const uint8_t data) { return cyrf6936_write_block(cyrf, addr, &data, 1); } @@ -275,13 +275,13 @@ static bool_t cyrf6936_write_register(struct Cyrf6936 *cyrf, const uint8_t addr, /** * Write multiple bytes to a register */ -static bool_t cyrf6936_write_block(struct Cyrf6936 *cyrf, const uint8_t addr, const uint8_t data[], +static bool cyrf6936_write_block(struct Cyrf6936 *cyrf, const uint8_t addr, const uint8_t data[], const uint8_t length) { uint8_t i; /* Check if there is already a SPI transaction busy */ if (cyrf->spi_t.status != SPITransDone) { - return FALSE; + return false; } /* Set the buffer and commit the transaction */ @@ -301,7 +301,7 @@ static bool_t cyrf6936_write_block(struct Cyrf6936 *cyrf, const uint8_t addr, co /** * Read a byte from a register */ -static bool_t cyrf6936_read_register(struct Cyrf6936 *cyrf, const uint8_t addr) +static bool cyrf6936_read_register(struct Cyrf6936 *cyrf, const uint8_t addr) { return cyrf6936_read_block(cyrf, addr, 1); } @@ -309,10 +309,10 @@ static bool_t cyrf6936_read_register(struct Cyrf6936 *cyrf, const uint8_t addr) /** * Read multiple bytes from a register */ -static bool_t cyrf6936_read_block(struct Cyrf6936 *cyrf, const uint8_t addr, const uint8_t length) +static bool cyrf6936_read_block(struct Cyrf6936 *cyrf, const uint8_t addr, const uint8_t length) { if (cyrf->spi_t.status != SPITransDone) { - return FALSE; + return false; } /* Set the buffer and commit the transaction */ @@ -327,7 +327,7 @@ static bool_t cyrf6936_read_block(struct Cyrf6936 *cyrf, const uint8_t addr, con /** * Write to one register */ -bool_t cyrf6936_write(struct Cyrf6936 *cyrf, const uint8_t addr, const uint8_t data) +bool cyrf6936_write(struct Cyrf6936 *cyrf, const uint8_t addr, const uint8_t data) { const uint8_t data_multi[][2] = { {addr, data} @@ -338,12 +338,12 @@ bool_t cyrf6936_write(struct Cyrf6936 *cyrf, const uint8_t addr, const uint8_t d /** * Write to multiple registers one byte */ -bool_t cyrf6936_multi_write(struct Cyrf6936 *cyrf, const uint8_t data[][2], const uint8_t length) +bool cyrf6936_multi_write(struct Cyrf6936 *cyrf, const uint8_t data[][2], const uint8_t length) { uint8_t i; /* Check if the cyrf6936 isn't busy */ if (cyrf->status != CYRF6936_IDLE) { - return FALSE; + return false; } // Set the status @@ -364,19 +364,19 @@ bool_t cyrf6936_multi_write(struct Cyrf6936 *cyrf, const uint8_t data[][2], cons cyrf6936_write_register(cyrf, data[0][0], data[0][1]); } - return TRUE; + return true; } /** * Set the channel, SOP code, DATA code and the CRC seed */ -bool_t cyrf6936_write_chan_sop_data_crc(struct Cyrf6936 *cyrf, const uint8_t chan, const uint8_t sop_code[], +bool cyrf6936_write_chan_sop_data_crc(struct Cyrf6936 *cyrf, const uint8_t chan, const uint8_t sop_code[], const uint8_t data_code[], const uint16_t crc_seed) { uint8_t i; /* Check if the cyrf6936 isn't busy */ if (cyrf->status != CYRF6936_IDLE) { - return FALSE; + return false; } // Set the status @@ -403,17 +403,17 @@ bool_t cyrf6936_write_chan_sop_data_crc(struct Cyrf6936 *cyrf, const uint8_t cha cyrf->buffer_idx = 0; cyrf6936_write_register(cyrf, CYRF_CRC_SEED_LSB, cyrf->buffer[0]); - return TRUE; + return true; } /** * Read the RX IRQ status register, the rx status register and the rx packet */ -bool_t cyrf6936_read_rx_irq_status_packet(struct Cyrf6936 *cyrf) +bool cyrf6936_read_rx_irq_status_packet(struct Cyrf6936 *cyrf) { /* Check if the cyrf6936 isn't busy */ if (cyrf->status != CYRF6936_IDLE) { - return FALSE; + return false; } // Set the status @@ -423,19 +423,19 @@ bool_t cyrf6936_read_rx_irq_status_packet(struct Cyrf6936 *cyrf) cyrf->buffer_idx = 0; cyrf6936_read_register(cyrf, CYRF_RX_IRQ_STATUS); - return TRUE; + return true; } /** * Send a packet with a certain length */ -bool_t cyrf6936_send(struct Cyrf6936 *cyrf, const uint8_t data[], const uint8_t length) +bool cyrf6936_send(struct Cyrf6936 *cyrf, const uint8_t data[], const uint8_t length) { int i; /* Check if the cyrf6936 isn't busy */ if (cyrf->status != CYRF6936_IDLE) { - return FALSE; + return false; } // Set the status @@ -451,5 +451,5 @@ bool_t cyrf6936_send(struct Cyrf6936 *cyrf, const uint8_t data[], const uint8_t cyrf->buffer_idx = 0; cyrf6936_write_register(cyrf, CYRF_TX_LENGTH, cyrf->buffer[0]); - return TRUE; + return true; } diff --git a/sw/airborne/peripherals/cyrf6936.h b/sw/airborne/peripherals/cyrf6936.h index 111de18e0c..680263155a 100644 --- a/sw/airborne/peripherals/cyrf6936.h +++ b/sw/airborne/peripherals/cyrf6936.h @@ -56,7 +56,7 @@ struct Cyrf6936 { uint8_t buffer_length; /**< The length of the buffer used for MULTIWRITE */ uint8_t buffer_idx; /**< The index of the buffer used for MULTIWRITE and used as sub-status for other statuses */ - bool_t has_irq; /**< When the CYRF6936 is done reading the irq */ + bool has_irq; /**< When the CYRF6936 is done reading the irq */ uint8_t mfg_id[6]; /**< The manufacturer id of the CYRF6936 chip */ uint8_t tx_irq_status; /**< The last send interrupt status */ uint8_t rx_irq_status; /**< The last receive interrupt status */ @@ -69,11 +69,11 @@ extern void cyrf6936_init(struct Cyrf6936 *cyrf, struct spi_periph *spi_p, const const uint32_t rst_port, const uint16_t rst_pin); void cyrf6936_event(struct Cyrf6936 *cyrf); -bool_t cyrf6936_write(struct Cyrf6936 *cyrf, const uint8_t addr, const uint8_t data); -bool_t cyrf6936_multi_write(struct Cyrf6936 *cyrf, const uint8_t data[][2], const uint8_t length); -bool_t cyrf6936_write_chan_sop_data_crc(struct Cyrf6936 *cyrf, const uint8_t chan, const uint8_t sop_code[], +bool cyrf6936_write(struct Cyrf6936 *cyrf, const uint8_t addr, const uint8_t data); +bool cyrf6936_multi_write(struct Cyrf6936 *cyrf, const uint8_t data[][2], const uint8_t length); +bool cyrf6936_write_chan_sop_data_crc(struct Cyrf6936 *cyrf, const uint8_t chan, const uint8_t sop_code[], const uint8_t data_code[], const uint16_t crc_seed); -bool_t cyrf6936_read_rx_irq_status_packet(struct Cyrf6936 *cyrf); -bool_t cyrf6936_send(struct Cyrf6936 *cyrf, const uint8_t data[], const uint8_t length); +bool cyrf6936_read_rx_irq_status_packet(struct Cyrf6936 *cyrf); +bool cyrf6936_send(struct Cyrf6936 *cyrf, const uint8_t data[], const uint8_t length); #endif /* CYRF6936_H */ diff --git a/sw/airborne/peripherals/eeprom25AA256.c b/sw/airborne/peripherals/eeprom25AA256.c index 895b22ae58..f4cda0bd88 100644 --- a/sw/airborne/peripherals/eeprom25AA256.c +++ b/sw/airborne/peripherals/eeprom25AA256.c @@ -94,7 +94,7 @@ void eeprom25AA256_event(struct Eeprom25AA256 *eeprom) eeprom->spi_trans.status = SPITransDone; } else if (eeprom->spi_trans.status == SPITransSuccess) { // Successfull reading - eeprom->data_available = TRUE; + eeprom->data_available = true; eeprom->spi_trans.status = SPITransDone; } } diff --git a/sw/airborne/peripherals/eeprom25AA256.h b/sw/airborne/peripherals/eeprom25AA256.h index 7f5e9760cf..48c4336344 100644 --- a/sw/airborne/peripherals/eeprom25AA256.h +++ b/sw/airborne/peripherals/eeprom25AA256.h @@ -59,7 +59,7 @@ struct Eeprom25AA256 { struct spi_transaction spi_trans; ///< spi transaction volatile uint8_t tx_buf[E25_OUT_BUFFER_LEN]; ///< transmit buffer volatile uint8_t rx_buf[E25_IN_BUFFER_LEN]; ///< receive buffer - bool_t data_available; ///< data read flag + bool data_available; ///< data read flag }; /** Init function diff --git a/sw/airborne/peripherals/hmc5843.c b/sw/airborne/peripherals/hmc5843.c index 5ef98a5782..56d112622a 100644 --- a/sw/airborne/peripherals/hmc5843.c +++ b/sw/airborne/peripherals/hmc5843.c @@ -92,7 +92,7 @@ void hmc5843_idle_task(void) hmc5843.sent_rx = 0; hmc5843.sent_tx = 0; hmc5843.timeout = 0; - hmc5843.data_available = TRUE; + hmc5843.data_available = true; memcpy(hmc5843.data.buf, (const void *) hmc5843.i2c_trans.buf, 6); for (int i = 0; i < 3; i++) { hmc5843.data.value[i] = bswap_16(hmc5843.data.value[i]); @@ -104,7 +104,7 @@ void hmc5843_periodic(void) { if (!hmc5843.initialized) { send_config(); - hmc5843.initialized = TRUE; + hmc5843.initialized = true; } else if (hmc5843.timeout++ > HMC5843_TIMEOUT && HMC5843_I2C_DEV.status == I2CIdle && i2c_idle(&HMC5843_I2C_DEV)) { #ifdef USE_HMC59843_ARCH_RESET hmc5843_arch_reset(); diff --git a/sw/airborne/peripherals/hmc58xx.c b/sw/airborne/peripherals/hmc58xx.c index fe2f05c00d..3db8446110 100644 --- a/sw/airborne/peripherals/hmc58xx.c +++ b/sw/airborne/peripherals/hmc58xx.c @@ -82,7 +82,7 @@ void hmc58xx_init(struct Hmc58xx *hmc, struct i2c_periph *i2c_p, uint8_t addr) /* set default config options */ hmc58xx_set_default_config(&(hmc->config)); hmc->type = HMC_TYPE_5883; - hmc->initialized = FALSE; + hmc->initialized = false; hmc->init_status = HMC_CONF_UNINIT; hmc->adc_overflow_cnt = 0; } @@ -114,7 +114,7 @@ static void hmc58xx_send_config(struct Hmc58xx *hmc) hmc->init_status++; break; case HMC_CONF_DONE: - hmc->initialized = TRUE; + hmc->initialized = true; hmc->i2c_trans.status = I2CTransDone; break; default: @@ -169,7 +169,7 @@ void hmc58xx_event(struct Hmc58xx *hmc) /* only set available if measurements valid: -4096 if ADC under/overflow in sensor */ if (hmc->data.vect.x != -4096 && hmc->data.vect.y != -4096 && hmc->data.vect.z != -4096) { - hmc->data_available = TRUE; + hmc->data_available = true; } else { hmc->adc_overflow_cnt++; diff --git a/sw/airborne/peripherals/hmc58xx.h b/sw/airborne/peripherals/hmc58xx.h index 30769864f4..c91cd9f004 100644 --- a/sw/airborne/peripherals/hmc58xx.h +++ b/sw/airborne/peripherals/hmc58xx.h @@ -60,9 +60,9 @@ enum Hmc58xxType { struct Hmc58xx { struct i2c_periph *i2c_p; struct i2c_transaction i2c_trans; - bool_t initialized; ///< config done flag + bool initialized; ///< config done flag enum Hmc58xxConfStatus init_status; ///< init status - volatile bool_t data_available; ///< data ready flag + volatile bool data_available; ///< data ready flag union { struct Int16Vect3 vect; ///< data vector in mag coordinate system int16_t value[3]; ///< data values accessible by channel index diff --git a/sw/airborne/peripherals/itg3200.c b/sw/airborne/peripherals/itg3200.c index 758b3276d2..08d05d5662 100644 --- a/sw/airborne/peripherals/itg3200.c +++ b/sw/airborne/peripherals/itg3200.c @@ -55,7 +55,7 @@ void itg3200_init(struct Itg3200 *itg, struct i2c_periph *i2c_p, uint8_t addr) itg->i2c_trans.status = I2CTransDone; /* set default config options */ itg3200_set_default_config(&(itg->config)); - itg->initialized = FALSE; + itg->initialized = false; itg->init_status = ITG_CONF_UNINIT; } @@ -90,7 +90,7 @@ static void itg3200_send_config(struct Itg3200 *itg) itg->init_status++; break; case ITG_CONF_DONE: - itg->initialized = TRUE; + itg->initialized = true; itg->i2c_trans.status = I2CTransDone; break; default: @@ -135,7 +135,7 @@ void itg3200_event(struct Itg3200 *itg) itg->data.rates.p = Int16FromBuf(itg->i2c_trans.buf, 3); itg->data.rates.q = Int16FromBuf(itg->i2c_trans.buf, 5); itg->data.rates.r = Int16FromBuf(itg->i2c_trans.buf, 7); - itg->data_available = TRUE; + itg->data_available = true; } itg->i2c_trans.status = I2CTransDone; } diff --git a/sw/airborne/peripherals/itg3200.h b/sw/airborne/peripherals/itg3200.h index 4648f58124..5971b1ab3e 100644 --- a/sw/airborne/peripherals/itg3200.h +++ b/sw/airborne/peripherals/itg3200.h @@ -70,9 +70,9 @@ enum Itg3200ConfStatus { struct Itg3200 { struct i2c_periph *i2c_p; struct i2c_transaction i2c_trans; - bool_t initialized; ///< config done flag + bool initialized; ///< config done flag enum Itg3200ConfStatus init_status; ///< init status - volatile bool_t data_available; ///< data ready flag + volatile bool data_available; ///< data ready flag union { struct Int32Rates rates; ///< data as angular rates in gyro coordinate system int32_t value[3]; ///< data values accessible by channel index diff --git a/sw/airborne/peripherals/l3g4200.c b/sw/airborne/peripherals/l3g4200.c index f9f133bf27..c4691dc0ae 100644 --- a/sw/airborne/peripherals/l3g4200.c +++ b/sw/airborne/peripherals/l3g4200.c @@ -53,7 +53,7 @@ void l3g4200_init(struct L3g4200 *l3g, struct i2c_periph *i2c_p, uint8_t addr) l3g->i2c_trans.status = I2CTransDone; /* set default config options */ l3g4200_set_default_config(&(l3g->config)); - l3g->initialized = FALSE; + l3g->initialized = false; l3g->init_status = L3G_CONF_UNINIT; } @@ -81,7 +81,7 @@ static void l3g4200_send_config(struct L3g4200 *l3g) l3g->init_status++; break; case L3G_CONF_DONE: - l3g->initialized = TRUE; + l3g->initialized = true; l3g->i2c_trans.status = I2CTransDone; break; default: @@ -123,7 +123,7 @@ void l3g4200_event(struct L3g4200 *l3g) l3g->data.rates.p = Int16FromBuf(l3g->i2c_trans.buf, 1); l3g->data.rates.q = Int16FromBuf(l3g->i2c_trans.buf, 3); l3g->data.rates.r = Int16FromBuf(l3g->i2c_trans.buf, 5); - l3g->data_available = TRUE; + l3g->data_available = true; } l3g->i2c_trans.status = I2CTransDone; } diff --git a/sw/airborne/peripherals/l3g4200.h b/sw/airborne/peripherals/l3g4200.h index cb94932bbf..11bc530d72 100644 --- a/sw/airborne/peripherals/l3g4200.h +++ b/sw/airborne/peripherals/l3g4200.h @@ -67,9 +67,9 @@ enum L3g4200ConfStatus { struct L3g4200 { struct i2c_periph *i2c_p; struct i2c_transaction i2c_trans; - bool_t initialized; ///< config done flag + bool initialized; ///< config done flag enum L3g4200ConfStatus init_status; ///< init status - volatile bool_t data_available; ///< data ready flag + volatile bool data_available; ///< data ready flag union { struct Int32Rates rates; ///< data as angular rates in gyro coordinate system int32_t value[3]; ///< data values accessible by channel index diff --git a/sw/airborne/peripherals/l3gd20.h b/sw/airborne/peripherals/l3gd20.h index 23676eb9bc..93e5afe475 100644 --- a/sw/airborne/peripherals/l3gd20.h +++ b/sw/airborne/peripherals/l3gd20.h @@ -41,7 +41,7 @@ enum L3gd20ConfStatus { }; struct L3gd20Config { - bool_t spi_3_wire; ///< Set 3-wire SPI mode, if FALSE: 4-wire SPI mode + bool spi_3_wire; ///< Set 3-wire SPI mode, if FALSE: 4-wire SPI mode enum L3gd20FullScale full_scale; ///< gyro full scale enum L3gd20DRBW drbw; ///< Data rate and bandwidth @@ -49,7 +49,7 @@ struct L3gd20Config { static inline void l3gd20_set_default_config(struct L3gd20Config *c) { - c->spi_3_wire = FALSE; + c->spi_3_wire = false; c->drbw = L3GD20_DRBW_760Hz_100BW; c->full_scale = L3GD20_FS_2000dps2; diff --git a/sw/airborne/peripherals/l3gd20_spi.c b/sw/airborne/peripherals/l3gd20_spi.c index c774adaa74..674398ac04 100644 --- a/sw/airborne/peripherals/l3gd20_spi.c +++ b/sw/airborne/peripherals/l3gd20_spi.c @@ -55,8 +55,8 @@ void l3gd20_spi_init(struct L3gd20_Spi *l3g, struct spi_periph *spi_p, uint8_t s /* set default L3GD20 config options */ l3gd20_set_default_config(&(l3g->config)); - l3g->initialized = FALSE; - l3g->data_available = FALSE; + l3g->initialized = false; + l3g->data_available = false; l3g->init_status = L3G_CONF_UNINIT; } @@ -101,7 +101,7 @@ static void l3gd20_spi_send_config(struct L3gd20_Spi *l3g) l3g->init_status++; break; case L3G_CONF_DONE: - l3g->initialized = TRUE; + l3g->initialized = true; l3g->spi_trans.status = SPITransDone; break; default: @@ -144,7 +144,7 @@ void l3gd20_spi_event(struct L3gd20_Spi *l3g) l3g->data_rates.rates.p = Int16FromBuf(l3g->rx_buf, 2); l3g->data_rates.rates.q = Int16FromBuf(l3g->rx_buf, 4); l3g->data_rates.rates.r = Int16FromBuf(l3g->rx_buf, 6); - l3g->data_available = TRUE; + l3g->data_available = true; } l3g->spi_trans.status = SPITransDone; } diff --git a/sw/airborne/peripherals/l3gd20_spi.h b/sw/airborne/peripherals/l3gd20_spi.h index 42d50c4bb5..0bff591ee5 100644 --- a/sw/airborne/peripherals/l3gd20_spi.h +++ b/sw/airborne/peripherals/l3gd20_spi.h @@ -41,8 +41,8 @@ struct L3gd20_Spi { volatile uint8_t tx_buf[2]; volatile uint8_t rx_buf[8]; enum L3gd20ConfStatus init_status; ///< init status - bool_t initialized; ///< config done flag - volatile bool_t data_available; ///< data ready flag + bool initialized; ///< config done flag + volatile bool data_available; ///< data ready flag union { struct Int16Rates rates; ///< data vector in accel coordinate system int16_t value[3]; ///< data values accessible by channel index diff --git a/sw/airborne/peripherals/lis302dl.h b/sw/airborne/peripherals/lis302dl.h index a71fabc96a..275fe2229c 100644 --- a/sw/airborne/peripherals/lis302dl.h +++ b/sw/airborne/peripherals/lis302dl.h @@ -42,22 +42,22 @@ enum Lis302dlConfStatus { }; struct Lis302dlConfig { - bool_t int_invert; ///< Invert Interrupt FALSE: active high, TRUE: active low - bool_t spi_3_wire; ///< Set 3-wire SPI mode, if FALSE: 4-wire SPI mode + bool int_invert; ///< Invert Interrupt FALSE: active high, TRUE: active low + bool spi_3_wire; ///< Set 3-wire SPI mode, if FALSE: 4-wire SPI mode /** Filtered Data Selection. * FALSE: internal filter bypassed; * TRUE: data from internal filter sent to output register */ - bool_t filt_data; + bool filt_data; enum Lis302dlRanges range; ///< g Range enum Lis302dlRates rate; ///< Data Output Rate }; static inline void lis302dl_set_default_config(struct Lis302dlConfig *c) { - c->int_invert = TRUE; - c->filt_data = FALSE; - c->spi_3_wire = FALSE; + c->int_invert = true; + c->filt_data = false; + c->spi_3_wire = false; c->rate = LIS302DL_RATE_100HZ; c->range = LIS302DL_RANGE_2G; diff --git a/sw/airborne/peripherals/lis302dl_spi.c b/sw/airborne/peripherals/lis302dl_spi.c index cc765197c6..a4c43450db 100644 --- a/sw/airborne/peripherals/lis302dl_spi.c +++ b/sw/airborne/peripherals/lis302dl_spi.c @@ -55,8 +55,8 @@ void lis302dl_spi_init(struct Lis302dl_Spi *lis, struct spi_periph *spi_p, uint8 /* set default LIS302DL config options */ lis302dl_set_default_config(&(lis->config)); - lis->initialized = FALSE; - lis->data_available = FALSE; + lis->initialized = false; + lis->data_available = false; lis->init_status = LIS_CONF_UNINIT; } @@ -107,7 +107,7 @@ static void lis302dl_spi_send_config(struct Lis302dl_Spi *lis) lis->init_status++; break; case LIS_CONF_DONE: - lis->initialized = TRUE; + lis->initialized = true; lis->spi_trans.status = SPITransDone; break; default: @@ -148,7 +148,7 @@ void lis302dl_spi_event(struct Lis302dl_Spi *lis) lis->data.vect.x = lis->rx_buf[3]; lis->data.vect.y = lis->rx_buf[5]; lis->data.vect.z = lis->rx_buf[7]; - lis->data_available = TRUE; + lis->data_available = true; } lis->spi_trans.status = SPITransDone; } diff --git a/sw/airborne/peripherals/lis302dl_spi.h b/sw/airborne/peripherals/lis302dl_spi.h index 3fb9851fb9..99794e4f36 100644 --- a/sw/airborne/peripherals/lis302dl_spi.h +++ b/sw/airborne/peripherals/lis302dl_spi.h @@ -42,8 +42,8 @@ struct Lis302dl_Spi { volatile uint8_t tx_buf[2]; volatile uint8_t rx_buf[8]; enum Lis302dlConfStatus init_status; ///< init status - bool_t initialized; ///< config done flag - volatile bool_t data_available; ///< data ready flag + bool initialized; ///< config done flag + volatile bool data_available; ///< data ready flag union { struct Int8Vect3 vect; ///< data vector in accel coordinate system int8_t value[3]; ///< data values accessible by channel index diff --git a/sw/airborne/peripherals/lsm303dlhc.c b/sw/airborne/peripherals/lsm303dlhc.c index 639737056e..aa34d312c6 100644 --- a/sw/airborne/peripherals/lsm303dlhc.c +++ b/sw/airborne/peripherals/lsm303dlhc.c @@ -94,7 +94,7 @@ void lsm303dlhc_init(struct Lsm303dlhc *lsm, struct i2c_periph *i2c_p, uint8_t a lsm303dlhc_mag_set_default_config(&(lsm->config.mag)); lsm->init_status.mag = LSM_CONF_MAG_UNINIT; } - lsm->initialized = FALSE; + lsm->initialized = false; } static void lsm303dlhc_i2c_tx_reg(struct Lsm303dlhc *lsm, uint8_t reg, uint8_t val) @@ -130,7 +130,7 @@ static void lsm303dlhc_send_config(struct Lsm303dlhc *lsm) lsm->init_status.acc++; break; case LSM_CONF_ACC_DONE: - lsm->initialized = TRUE; + lsm->initialized = true; lsm->i2c_trans.status = I2CTransDone; lsm303dlhc_read(lsm); break; @@ -152,7 +152,7 @@ static void lsm303dlhc_send_config(struct Lsm303dlhc *lsm) lsm->init_status.mag++; break; case LSM_CONF_MAG_DONE: - lsm->initialized = TRUE; + lsm->initialized = true; lsm->i2c_trans.status = I2CTransDone; break; default: @@ -215,7 +215,7 @@ void lsm303dlhc_event(struct Lsm303dlhc *lsm) lsm->data.vect.x = Int16FromBuf(lsm->i2c_trans.buf, 0); lsm->data.vect.y = Int16FromBuf(lsm->i2c_trans.buf, 2); lsm->data.vect.z = Int16FromBuf(lsm->i2c_trans.buf, 4); - lsm->data_available = TRUE; + lsm->data_available = true; lsm->i2c_trans.status = I2CTransDone; } else { } diff --git a/sw/airborne/peripherals/lsm303dlhc.h b/sw/airborne/peripherals/lsm303dlhc.h index bfea938f9e..2f4da82ddd 100644 --- a/sw/airborne/peripherals/lsm303dlhc.h +++ b/sw/airborne/peripherals/lsm303dlhc.h @@ -70,12 +70,12 @@ enum Lsm303dlhcMagConfStatus { struct Lsm303dlhc { struct i2c_periph *i2c_p; struct i2c_transaction i2c_trans; - bool_t initialized; ///< config done flag + bool initialized; ///< config done flag union { enum Lsm303dlhcAccConfStatus acc; ///< init status enum Lsm303dlhcMagConfStatus mag; ///< init status } init_status; - volatile bool_t data_available; ///< data ready flag + volatile bool data_available; ///< data ready flag union { struct Int16Vect3 vect; ///< data vector in acc coordinate system int16_t value[3]; ///< data values accessible by channel index diff --git a/sw/airborne/peripherals/mcp355x.c b/sw/airborne/peripherals/mcp355x.c index a8ddc27edd..f296168140 100644 --- a/sw/airborne/peripherals/mcp355x.c +++ b/sw/airborne/peripherals/mcp355x.c @@ -27,7 +27,7 @@ #include "peripherals/mcp355x.h" #include "mcu_periph/spi.h" -bool_t mcp355x_data_available; +bool mcp355x_data_available; int32_t mcp355x_data; uint8_t mcp355x_val[4]; @@ -35,7 +35,7 @@ struct spi_transaction mcp355x_spi_trans; void mcp355x_init(void) { - mcp355x_data_available = FALSE; + mcp355x_data_available = false; mcp355x_data = 0; mcp355x_spi_trans.input_length = 4; @@ -66,7 +66,7 @@ void mcp355x_event(void) ((uint32_t)mcp355x_spi_trans.input_buf[1] << 9) | ((uint32_t)mcp355x_spi_trans.input_buf[2] << 1) | (mcp355x_spi_trans.input_buf[3] >> 7)); - mcp355x_data_available = TRUE; + mcp355x_data_available = true; } mcp355x_spi_trans.status = SPITransDone; } diff --git a/sw/airborne/peripherals/mcp355x.h b/sw/airborne/peripherals/mcp355x.h index cbc94e021f..6134e3a7b6 100644 --- a/sw/airborne/peripherals/mcp355x.h +++ b/sw/airborne/peripherals/mcp355x.h @@ -28,7 +28,7 @@ #include "std.h" -extern bool_t mcp355x_data_available; +extern bool mcp355x_data_available; extern int32_t mcp355x_data; extern void mcp355x_init(void); diff --git a/sw/airborne/peripherals/mpl3115.c b/sw/airborne/peripherals/mpl3115.c index 9132912dec..1abb33ebd8 100644 --- a/sw/airborne/peripherals/mpl3115.c +++ b/sw/airborne/peripherals/mpl3115.c @@ -39,12 +39,12 @@ void mpl3115_init(struct Mpl3115 *mpl, struct i2c_periph *i2c_p, uint8_t addr) mpl->trans.status = I2CTransDone; mpl->req_trans.status = I2CTransDone; - mpl->initialized = FALSE; + mpl->initialized = false; mpl->init_status = MPL_CONF_UNINIT; /* by default disable raw mode and set pressure mode */ - mpl->raw_mode = FALSE; - mpl->alt_mode = FALSE; + mpl->raw_mode = false; + mpl->alt_mode = false; mpl->pressure = 0; mpl->temperature = 0; @@ -69,7 +69,7 @@ static void mpl3115_send_config(struct Mpl3115 *mpl) mpl->init_status++; break; case MPL_CONF_DONE: - mpl->initialized = TRUE; + mpl->initialized = true; mpl->trans.status = I2CTransDone; break; default: @@ -130,7 +130,7 @@ void mpl3115_event(struct Mpl3115 *mpl) tmp = ((int16_t)mpl->trans.buf[4] << 8) | mpl->trans.buf[5]; mpl->temperature = (tmp >> 4); } - mpl->data_available = TRUE; + mpl->data_available = true; } mpl->trans.status = I2CTransDone; } diff --git a/sw/airborne/peripherals/mpl3115.h b/sw/airborne/peripherals/mpl3115.h index 096f91c4ce..a7804e2f4b 100644 --- a/sw/airborne/peripherals/mpl3115.h +++ b/sw/airborne/peripherals/mpl3115.h @@ -72,10 +72,10 @@ struct Mpl3115 { struct i2c_transaction trans; ///< I2C transaction for reading and configuring struct i2c_transaction req_trans; ///< I2C transaction for conversion request enum Mpl3115Status init_status; - bool_t initialized; ///< config done flag - volatile bool_t data_available; ///< data ready flag - bool_t raw_mode; ///< set to TRUE to enable raw output - bool_t alt_mode; ///< set to TRUE to enable altitude output (otherwise pressure) + bool initialized; ///< config done flag + volatile bool data_available; ///< data ready flag + bool raw_mode; ///< set to TRUE to enable raw output + bool alt_mode; ///< set to TRUE to enable altitude output (otherwise pressure) int16_t temperature; ///< temperature in 1/16 degrees Celcius uint32_t pressure; ///< pressure in 1/4 Pascal float altitude; ///< altitude in meters diff --git a/sw/airborne/peripherals/mpu60x0.c b/sw/airborne/peripherals/mpu60x0.c index 4bfb5ffdff..9c7098b44a 100644 --- a/sw/airborne/peripherals/mpu60x0.c +++ b/sw/airborne/peripherals/mpu60x0.c @@ -36,7 +36,7 @@ void mpu60x0_set_default_config(struct Mpu60x0Config *c) c->dlpf_cfg = MPU60X0_DEFAULT_DLPF_CFG; c->gyro_range = MPU60X0_DEFAULT_FS_SEL; c->accel_range = MPU60X0_DEFAULT_AFS_SEL; - c->drdy_int_enable = FALSE; + c->drdy_int_enable = false; /* Number of bytes to read starting with MPU60X0_REG_INT_STATUS * By default read only gyro and accel data -> 15 bytes. @@ -46,7 +46,7 @@ void mpu60x0_set_default_config(struct Mpu60x0Config *c) c->nb_slaves = 0; c->nb_slave_init = 0; - c->i2c_bypass = FALSE; + c->i2c_bypass = false; } void mpu60x0_send_config(Mpu60x0ConfigSet mpu_set, void *mpu, struct Mpu60x0Config *config) @@ -106,7 +106,7 @@ void mpu60x0_send_config(Mpu60x0ConfigSet mpu_set, void *mpu, struct Mpu60x0Conf config->init_status++; break; case MPU60X0_CONF_DONE: - config->initialized = TRUE; + config->initialized = true; break; default: break; diff --git a/sw/airborne/peripherals/mpu60x0.h b/sw/airborne/peripherals/mpu60x0.h index 693068ad3c..4293cb6b26 100644 --- a/sw/airborne/peripherals/mpu60x0.h +++ b/sw/airborne/peripherals/mpu60x0.h @@ -69,7 +69,7 @@ enum Mpu60x0ConfStatus { typedef void (*Mpu60x0ConfigSet)(void *mpu, uint8_t _reg, uint8_t _val); /// function prototype for configuration of a single I2C slave -typedef bool_t (*Mpu60x0I2cSlaveConfigure)(Mpu60x0ConfigSet mpu_set, void *mpu); +typedef bool (*Mpu60x0I2cSlaveConfigure)(Mpu60x0ConfigSet mpu_set, void *mpu); struct Mpu60x0I2cSlave { Mpu60x0I2cSlaveConfigure configure; @@ -80,16 +80,16 @@ struct Mpu60x0Config { enum Mpu60x0DLPF dlpf_cfg; ///< Digital Low Pass Filter enum Mpu60x0GyroRanges gyro_range; ///< deg/s Range enum Mpu60x0AccelRanges accel_range; ///< g Range - bool_t drdy_int_enable; ///< Enable Data Ready Interrupt + bool drdy_int_enable; ///< Enable Data Ready Interrupt uint8_t clk_sel; ///< Clock select uint8_t nb_bytes; ///< number of bytes to read starting with MPU60X0_REG_INT_STATUS enum Mpu60x0ConfStatus init_status; ///< init status - bool_t initialized; ///< config done flag + bool initialized; ///< config done flag /** Bypass MPU I2C. * Only effective if using the I2C implementation. */ - bool_t i2c_bypass; + bool i2c_bypass; uint8_t nb_slaves; ///< number of used I2C slaves uint8_t nb_slave_init; ///< number of already configured/initialized slaves @@ -110,6 +110,6 @@ extern void mpu60x0_send_config(Mpu60x0ConfigSet mpu_set, void *mpu, struct Mpu6 * @param mpu Mpu60x0Spi or Mpu60x0I2c peripheral * @return TRUE when all slaves are configured */ -extern bool_t mpu60x0_configure_i2c_slaves(Mpu60x0ConfigSet mpu_set, void *mpu); +extern bool mpu60x0_configure_i2c_slaves(Mpu60x0ConfigSet mpu_set, void *mpu); #endif // MPU60X0_H diff --git a/sw/airborne/peripherals/mpu60x0_i2c.c b/sw/airborne/peripherals/mpu60x0_i2c.c index 1a403896cc..80ec85cd8c 100644 --- a/sw/airborne/peripherals/mpu60x0_i2c.c +++ b/sw/airborne/peripherals/mpu60x0_i2c.c @@ -41,8 +41,8 @@ void mpu60x0_i2c_init(struct Mpu60x0_I2c *mpu, struct i2c_periph *i2c_p, uint8_t /* set default MPU60X0 config options */ mpu60x0_set_default_config(&(mpu->config)); - mpu->data_available = FALSE; - mpu->config.initialized = FALSE; + mpu->data_available = false; + mpu->config.initialized = false; mpu->config.init_status = MPU60X0_CONF_UNINIT; mpu->slave_init_status = MPU60X0_I2C_CONF_UNINIT; @@ -109,7 +109,7 @@ void mpu60x0_i2c_event(struct Mpu60x0_I2c *mpu) #pragma GCC diagnostic pop } - mpu->data_available = TRUE; + mpu->data_available = true; } mpu->i2c_trans.status = I2CTransDone; } @@ -131,7 +131,7 @@ void mpu60x0_i2c_event(struct Mpu60x0_I2c *mpu) } /** configure the registered I2C slaves */ -bool_t mpu60x0_configure_i2c_slaves(Mpu60x0ConfigSet mpu_set, void *mpu) +bool mpu60x0_configure_i2c_slaves(Mpu60x0ConfigSet mpu_set, void *mpu) { struct Mpu60x0_I2c *mpu_i2c = (struct Mpu60x0_I2c *)(mpu); @@ -194,9 +194,9 @@ bool_t mpu60x0_configure_i2c_slaves(Mpu60x0ConfigSet mpu_set, void *mpu) mpu_i2c->slave_init_status++; break; case MPU60X0_I2C_CONF_DONE: - return TRUE; + return true; default: break; } - return FALSE; + return false; } diff --git a/sw/airborne/peripherals/mpu60x0_i2c.h b/sw/airborne/peripherals/mpu60x0_i2c.h index 07e3de4255..f372ce1101 100644 --- a/sw/airborne/peripherals/mpu60x0_i2c.h +++ b/sw/airborne/peripherals/mpu60x0_i2c.h @@ -54,7 +54,7 @@ enum Mpu60x0I2cSlaveInitStatus { struct Mpu60x0_I2c { struct i2c_periph *i2c_p; struct i2c_transaction i2c_trans; - volatile bool_t data_available; ///< data ready flag + volatile bool data_available; ///< data ready flag union { struct Int16Vect3 vect; ///< accel data vector in accel coordinate system int16_t value[3]; ///< accel data values accessible by channel index diff --git a/sw/airborne/peripherals/mpu60x0_spi.c b/sw/airborne/peripherals/mpu60x0_spi.c index b85885f069..40f28e1cbd 100644 --- a/sw/airborne/peripherals/mpu60x0_spi.c +++ b/sw/airborne/peripherals/mpu60x0_spi.c @@ -55,8 +55,8 @@ void mpu60x0_spi_init(struct Mpu60x0_Spi *mpu, struct spi_periph *spi_p, uint8_t /* set default MPU60X0 config options */ mpu60x0_set_default_config(&(mpu->config)); - mpu->data_available = FALSE; - mpu->config.initialized = FALSE; + mpu->data_available = false; + mpu->config.initialized = false; mpu->config.init_status = MPU60X0_CONF_UNINIT; mpu->slave_init_status = MPU60X0_SPI_CONF_UNINIT; @@ -127,7 +127,7 @@ void mpu60x0_spi_event(struct Mpu60x0_Spi *mpu) #pragma GCC diagnostic pop } - mpu->data_available = TRUE; + mpu->data_available = true; } mpu->spi_trans.status = SPITransDone; } @@ -149,7 +149,7 @@ void mpu60x0_spi_event(struct Mpu60x0_Spi *mpu) } /** configure the registered I2C slaves */ -bool_t mpu60x0_configure_i2c_slaves(Mpu60x0ConfigSet mpu_set, void *mpu) +bool mpu60x0_configure_i2c_slaves(Mpu60x0ConfigSet mpu_set, void *mpu) { struct Mpu60x0_Spi *mpu_spi = (struct Mpu60x0_Spi *)(mpu); @@ -188,9 +188,9 @@ bool_t mpu60x0_configure_i2c_slaves(Mpu60x0ConfigSet mpu_set, void *mpu) } break; case MPU60X0_SPI_CONF_DONE: - return TRUE; + return true; default: break; } - return FALSE; + return false; } diff --git a/sw/airborne/peripherals/mpu60x0_spi.h b/sw/airborne/peripherals/mpu60x0_spi.h index fa7e5ab039..2baae15f01 100644 --- a/sw/airborne/peripherals/mpu60x0_spi.h +++ b/sw/airborne/peripherals/mpu60x0_spi.h @@ -53,7 +53,7 @@ struct Mpu60x0_Spi { struct spi_transaction spi_trans; volatile uint8_t tx_buf[2]; volatile uint8_t rx_buf[MPU60X0_BUFFER_LEN]; - volatile bool_t data_available; ///< data ready flag + volatile bool data_available; ///< data ready flag union { struct Int16Vect3 vect; ///< accel data vector in accel coordinate system int16_t value[3]; ///< accel data values accessible by channel index diff --git a/sw/airborne/peripherals/mpu9250.c b/sw/airborne/peripherals/mpu9250.c index a65f65ca62..8adac4a30a 100644 --- a/sw/airborne/peripherals/mpu9250.c +++ b/sw/airborne/peripherals/mpu9250.c @@ -37,7 +37,7 @@ void mpu9250_set_default_config(struct Mpu9250Config *c) c->dlpf_accel_cfg = MPU9250_DEFAULT_DLPF_ACCEL_CFG; c->gyro_range = MPU9250_DEFAULT_FS_SEL; c->accel_range = MPU9250_DEFAULT_AFS_SEL; - c->drdy_int_enable = FALSE; + c->drdy_int_enable = false; /* Number of bytes to read starting with MPU9250_REG_INT_STATUS * By default read only gyro and accel data -> 15 bytes. @@ -47,7 +47,7 @@ void mpu9250_set_default_config(struct Mpu9250Config *c) c->nb_slaves = 0; c->nb_slave_init = 0; - c->i2c_bypass = FALSE; + c->i2c_bypass = false; } void mpu9250_send_config(Mpu9250ConfigSet mpu_set, void *mpu, struct Mpu9250Config *config) @@ -112,7 +112,7 @@ void mpu9250_send_config(Mpu9250ConfigSet mpu_set, void *mpu, struct Mpu9250Conf config->init_status++; break; case MPU9250_CONF_DONE: - config->initialized = TRUE; + config->initialized = true; break; default: break; diff --git a/sw/airborne/peripherals/mpu9250.h b/sw/airborne/peripherals/mpu9250.h index fd8daa8057..2ad631df5c 100644 --- a/sw/airborne/peripherals/mpu9250.h +++ b/sw/airborne/peripherals/mpu9250.h @@ -71,7 +71,7 @@ enum Mpu9250ConfStatus { typedef void (*Mpu9250ConfigSet)(void *mpu, uint8_t _reg, uint8_t _val); /// function prototype for configuration of a single I2C slave -typedef bool_t (*Mpu9250I2cSlaveConfigure)(Mpu9250ConfigSet mpu_set, void *mpu); +typedef bool (*Mpu9250I2cSlaveConfigure)(Mpu9250ConfigSet mpu_set, void *mpu); struct Mpu9250I2cSlave { Mpu9250I2cSlaveConfigure configure; @@ -83,16 +83,16 @@ struct Mpu9250Config { enum Mpu9250DLPFGyro dlpf_gyro_cfg; ///< Digital Low Pass Filter for gyroscope enum Mpu9250GyroRanges gyro_range; ///< deg/s Range enum Mpu9250AccelRanges accel_range; ///< g Range - bool_t drdy_int_enable; ///< Enable Data Ready Interrupt + bool drdy_int_enable; ///< Enable Data Ready Interrupt uint8_t clk_sel; ///< Clock select uint8_t nb_bytes; ///< number of bytes to read starting with MPU9250_REG_INT_STATUS enum Mpu9250ConfStatus init_status; ///< init status - bool_t initialized; ///< config done flag + bool initialized; ///< config done flag /** Bypass MPU I2C. * Only effective if using the I2C implementation. */ - bool_t i2c_bypass; + bool i2c_bypass; uint8_t nb_slaves; ///< number of used I2C slaves uint8_t nb_slave_init; ///< number of already configured/initialized slaves @@ -113,6 +113,6 @@ extern void mpu9250_send_config(Mpu9250ConfigSet mpu_set, void *mpu, struct Mpu9 * @param mpu Mpu9250Spi or Mpu9250I2c peripheral * @return TRUE when all slaves are configured */ -extern bool_t mpu9250_configure_i2c_slaves(Mpu9250ConfigSet mpu_set, void *mpu); +extern bool mpu9250_configure_i2c_slaves(Mpu9250ConfigSet mpu_set, void *mpu); #endif // MPU9250_H diff --git a/sw/airborne/peripherals/mpu9250_i2c.c b/sw/airborne/peripherals/mpu9250_i2c.c index 9cd52538a3..e547c8b6c1 100644 --- a/sw/airborne/peripherals/mpu9250_i2c.c +++ b/sw/airborne/peripherals/mpu9250_i2c.c @@ -27,7 +27,7 @@ #include "peripherals/mpu9250_i2c.h" -bool_t imu_mpu9250_configure_mag_slave(Mpu9250ConfigSet mpu_set __attribute__((unused)), +bool imu_mpu9250_configure_mag_slave(Mpu9250ConfigSet mpu_set __attribute__((unused)), void *mpu __attribute__((unused))); void mpu9250_i2c_init(struct Mpu9250_I2c *mpu, struct i2c_periph *i2c_p, uint8_t addr) @@ -43,8 +43,8 @@ void mpu9250_i2c_init(struct Mpu9250_I2c *mpu, struct i2c_periph *i2c_p, uint8_t /* set default MPU9250 config options */ mpu9250_set_default_config(&(mpu->config)); - mpu->data_available = FALSE; - mpu->config.initialized = FALSE; + mpu->data_available = false; + mpu->config.initialized = false; mpu->config.init_status = MPU9250_CONF_UNINIT; /* "internal" ak8963 magnetometer */ @@ -56,7 +56,7 @@ void mpu9250_i2c_init(struct Mpu9250_I2c *mpu, struct i2c_periph *i2c_p, uint8_t /* set callback function to configure mag */ mpu->config.slaves[0].configure = &imu_mpu9250_configure_mag_slave; /* read the mag directly for now */ - mpu->config.i2c_bypass = TRUE; + mpu->config.i2c_bypass = true; mpu->slave_init_status = MPU9250_I2C_CONF_UNINIT; } @@ -125,7 +125,7 @@ void mpu9250_i2c_event(struct Mpu9250_I2c *mpu) #pragma GCC diagnostic pop } - mpu->data_available = TRUE; + mpu->data_available = true; } mpu->i2c_trans.status = I2CTransDone; } @@ -151,20 +151,20 @@ void mpu9250_i2c_event(struct Mpu9250_I2c *mpu) /** callback function to configure ak8963 mag * @return TRUE if mag configuration finished */ -bool_t imu_mpu9250_configure_mag_slave(Mpu9250ConfigSet mpu_set __attribute__((unused)), void *mpu) +bool imu_mpu9250_configure_mag_slave(Mpu9250ConfigSet mpu_set __attribute__((unused)), void *mpu) { struct Mpu9250_I2c *mpu_i2c = (struct Mpu9250_I2c *)(mpu); ak8963_configure(&mpu_i2c->akm); if (mpu_i2c->akm.initialized) { - return TRUE; + return true; } else { - return FALSE; + return false; } } /** configure the registered I2C slaves */ -bool_t mpu9250_configure_i2c_slaves(Mpu9250ConfigSet mpu_set, void *mpu) +bool mpu9250_configure_i2c_slaves(Mpu9250ConfigSet mpu_set, void *mpu) { struct Mpu9250_I2c *mpu_i2c = (struct Mpu9250_I2c *)(mpu); @@ -227,9 +227,9 @@ bool_t mpu9250_configure_i2c_slaves(Mpu9250ConfigSet mpu_set, void *mpu) mpu_i2c->slave_init_status++; break; case MPU9250_I2C_CONF_DONE: - return TRUE; + return true; default: break; } - return FALSE; + return false; } diff --git a/sw/airborne/peripherals/mpu9250_i2c.h b/sw/airborne/peripherals/mpu9250_i2c.h index dd22192fc3..0d6a9bc2c5 100644 --- a/sw/airborne/peripherals/mpu9250_i2c.h +++ b/sw/airborne/peripherals/mpu9250_i2c.h @@ -55,7 +55,7 @@ enum Mpu9250I2cSlaveInitStatus { struct Mpu9250_I2c { struct i2c_periph *i2c_p; struct i2c_transaction i2c_trans; - volatile bool_t data_available; ///< data ready flag + volatile bool data_available; ///< data ready flag union { struct Int16Vect3 vect; ///< accel data vector in accel coordinate system int16_t value[3]; ///< accel data values accessible by channel index diff --git a/sw/airborne/peripherals/mpu9250_spi.c b/sw/airborne/peripherals/mpu9250_spi.c index ac6ed5667f..5ca9b1ab60 100644 --- a/sw/airborne/peripherals/mpu9250_spi.c +++ b/sw/airborne/peripherals/mpu9250_spi.c @@ -55,8 +55,8 @@ void mpu9250_spi_init(struct Mpu9250_Spi *mpu, struct spi_periph *spi_p, uint8_t /* set default MPU9250 config options */ mpu9250_set_default_config(&(mpu->config)); - mpu->data_available = FALSE; - mpu->config.initialized = FALSE; + mpu->data_available = false; + mpu->config.initialized = false; mpu->config.init_status = MPU9250_CONF_UNINIT; mpu->slave_init_status = MPU9250_SPI_CONF_UNINIT; @@ -124,7 +124,7 @@ void mpu9250_spi_event(struct Mpu9250_Spi *mpu) #pragma GCC diagnostic pop } - mpu->data_available = TRUE; + mpu->data_available = true; } mpu->spi_trans.status = SPITransDone; } @@ -146,7 +146,7 @@ void mpu9250_spi_event(struct Mpu9250_Spi *mpu) } /** configure the registered I2C slaves */ -bool_t mpu9250_configure_i2c_slaves(Mpu9250ConfigSet mpu_set, void *mpu) +bool mpu9250_configure_i2c_slaves(Mpu9250ConfigSet mpu_set, void *mpu) { struct Mpu9250_Spi *mpu_spi = (struct Mpu9250_Spi *)(mpu); @@ -185,9 +185,9 @@ bool_t mpu9250_configure_i2c_slaves(Mpu9250ConfigSet mpu_set, void *mpu) } break; case MPU9250_SPI_CONF_DONE: - return TRUE; + return true; default: break; } - return FALSE; + return false; } diff --git a/sw/airborne/peripherals/mpu9250_spi.h b/sw/airborne/peripherals/mpu9250_spi.h index 2b8866c742..30cb5c2a48 100644 --- a/sw/airborne/peripherals/mpu9250_spi.h +++ b/sw/airborne/peripherals/mpu9250_spi.h @@ -53,7 +53,7 @@ struct Mpu9250_Spi { struct spi_transaction spi_trans; volatile uint8_t tx_buf[2]; volatile uint8_t rx_buf[MPU9250_BUFFER_LEN]; - volatile bool_t data_available; ///< data ready flag + volatile bool data_available; ///< data ready flag union { struct Int16Vect3 vect; ///< accel data vector in accel coordinate system int16_t value[3]; ///< accel data values accessible by channel index diff --git a/sw/airborne/peripherals/ms5611.c b/sw/airborne/peripherals/ms5611.c index 99ed156f10..79f4c0784d 100644 --- a/sw/airborne/peripherals/ms5611.c +++ b/sw/airborne/peripherals/ms5611.c @@ -33,7 +33,7 @@ * Check if CRC of PROM data is OK. * @return TRUE if OK, FALSE otherwise */ -bool_t ms5611_prom_crc_ok(uint16_t *prom) +bool ms5611_prom_crc_ok(uint16_t *prom) { int32_t i, j; uint32_t res = 0; @@ -54,9 +54,9 @@ bool_t ms5611_prom_crc_ok(uint16_t *prom) } prom[7] |= crc; if (crc == ((res >> 12) & 0xF)) { - return TRUE; + return true; } else { - return FALSE; + return false; } } @@ -64,7 +64,7 @@ bool_t ms5611_prom_crc_ok(uint16_t *prom) * Calculate temperature and compensated pressure for MS5611. * @return TRUE if measurement was valid, FALSE otherwise */ -bool_t ms5611_calc(struct Ms5611Data *ms) +bool ms5611_calc(struct Ms5611Data *ms) { int64_t dt, tempms, off, sens, t2, off2, sens2; @@ -97,9 +97,9 @@ bool_t ms5611_calc(struct Ms5611Data *ms) /* temperature in deg Celsius with 0.01 degC resolultion */ ms->temperature = (int32_t)tempms; ms->pressure = p; - return TRUE; + return true; } - return FALSE; + return false; } /** @@ -107,7 +107,7 @@ bool_t ms5611_calc(struct Ms5611Data *ms) * MS5607 basically has half the resolution of the MS5611. * @return TRUE if measurement was valid, FALSE otherwise */ -bool_t ms5607_calc(struct Ms5611Data *ms) +bool ms5607_calc(struct Ms5611Data *ms) { int64_t dt, tempms, off, sens, t2, off2, sens2; @@ -140,7 +140,7 @@ bool_t ms5607_calc(struct Ms5611Data *ms) /* temperature in deg Celsius with 0.01 degC resolultion */ ms->temperature = (int32_t)tempms; ms->pressure = p; - return TRUE; + return true; } - return FALSE; + return false; } diff --git a/sw/airborne/peripherals/ms5611.h b/sw/airborne/peripherals/ms5611.h index dd51cff1e8..14ace57d28 100644 --- a/sw/airborne/peripherals/ms5611.h +++ b/sw/airborne/peripherals/ms5611.h @@ -56,8 +56,8 @@ struct Ms5611Data { uint32_t d2; }; -extern bool_t ms5611_prom_crc_ok(uint16_t *prom); -extern bool_t ms5611_calc(struct Ms5611Data *ms); -extern bool_t ms5607_calc(struct Ms5611Data *ms); +extern bool ms5611_prom_crc_ok(uint16_t *prom); +extern bool ms5611_calc(struct Ms5611Data *ms); +extern bool ms5607_calc(struct Ms5611Data *ms); #endif /* MS5611_H */ diff --git a/sw/airborne/peripherals/ms5611_i2c.c b/sw/airborne/peripherals/ms5611_i2c.c index ccc2c9017e..b4c068e812 100644 --- a/sw/airborne/peripherals/ms5611_i2c.c +++ b/sw/airborne/peripherals/ms5611_i2c.c @@ -31,7 +31,7 @@ void ms5611_i2c_init(struct Ms5611_I2c *ms, struct i2c_periph *i2c_p, uint8_t addr, - bool_t is_ms5607) + bool is_ms5607) { /* set i2c_peripheral */ ms->i2c_p = i2c_p; @@ -41,8 +41,8 @@ void ms5611_i2c_init(struct Ms5611_I2c *ms, struct i2c_periph *i2c_p, uint8_t ad /* set initial status: Success or Done */ ms->i2c_trans.status = I2CTransDone; - ms->data_available = FALSE; - ms->initialized = FALSE; + ms->data_available = false; + ms->initialized = false; ms->status = MS5611_STATUS_UNINIT; ms->prom_cnt = 0; ms->is_ms5607 = is_ms5607; @@ -51,7 +51,7 @@ void ms5611_i2c_init(struct Ms5611_I2c *ms, struct i2c_periph *i2c_p, uint8_t ad void ms5611_i2c_start_configure(struct Ms5611_I2c *ms) { if (ms->status == MS5611_STATUS_UNINIT) { - ms->initialized = FALSE; + ms->initialized = false; ms->prom_cnt = 0; ms->i2c_trans.buf[0] = MS5611_SOFT_RESET; i2c_transmit(ms->i2c_p, &(ms->i2c_trans), ms->i2c_trans.slave_addr, 1); @@ -191,7 +191,7 @@ void ms5611_i2c_event(struct Ms5611_I2c *ms) } else { /* done reading prom, check prom crc */ if (ms5611_prom_crc_ok(ms->data.c)) { - ms->initialized = TRUE; + ms->initialized = true; ms->status = MS5611_STATUS_IDLE; } else { /* checksum error, try again */ diff --git a/sw/airborne/peripherals/ms5611_i2c.h b/sw/airborne/peripherals/ms5611_i2c.h index 8954e66a8c..11f5523380 100644 --- a/sw/airborne/peripherals/ms5611_i2c.h +++ b/sw/airborne/peripherals/ms5611_i2c.h @@ -37,16 +37,16 @@ struct Ms5611_I2c { struct i2c_periph *i2c_p; struct i2c_transaction i2c_trans; enum Ms5611Status status; - bool_t is_ms5607; ///< TRUE if MS5607, FALSE if MS5611 - bool_t initialized; ///< config done flag - volatile bool_t data_available; ///< data ready flag + bool is_ms5607; ///< TRUE if MS5607, FALSE if MS5611 + bool initialized; ///< config done flag + volatile bool data_available; ///< data ready flag struct Ms5611Data data; int32_t prom_cnt; ///< number of bytes read from PROM }; // Functions extern void ms5611_i2c_init(struct Ms5611_I2c *ms, struct i2c_periph *i2c_p, uint8_t addr, - bool_t is_ms5607); + bool is_ms5607); extern void ms5611_i2c_start_configure(struct Ms5611_I2c *ms); extern void ms5611_i2c_start_conversion(struct Ms5611_I2c *ms); extern void ms5611_i2c_periodic_check(struct Ms5611_I2c *ms); diff --git a/sw/airborne/peripherals/ms5611_spi.c b/sw/airborne/peripherals/ms5611_spi.c index a3b8d0e988..eeebcc1ab1 100644 --- a/sw/airborne/peripherals/ms5611_spi.c +++ b/sw/airborne/peripherals/ms5611_spi.c @@ -31,7 +31,7 @@ void ms5611_spi_init(struct Ms5611_Spi *ms, struct spi_periph *spi_p, uint8_t slave_idx, - bool_t is_ms5607) + bool is_ms5607) { /* set spi_peripheral */ ms->spi_p = spi_p; @@ -55,8 +55,8 @@ void ms5611_spi_init(struct Ms5611_Spi *ms, struct spi_periph *spi_p, uint8_t sl /* set initial status: Success or Done */ ms->spi_trans.status = SPITransDone; - ms->data_available = FALSE; - ms->initialized = FALSE; + ms->data_available = false; + ms->initialized = false; ms->status = MS5611_STATUS_UNINIT; ms->prom_cnt = 0; ms->is_ms5607 = is_ms5607; @@ -65,7 +65,7 @@ void ms5611_spi_init(struct Ms5611_Spi *ms, struct spi_periph *spi_p, uint8_t sl void ms5611_spi_start_configure(struct Ms5611_Spi *ms) { if (ms->status == MS5611_STATUS_UNINIT) { - ms->initialized = FALSE; + ms->initialized = false; ms->prom_cnt = 0; ms->tx_buf[0] = MS5611_SOFT_RESET; spi_submit(ms->spi_p, &(ms->spi_trans)); @@ -202,7 +202,7 @@ void ms5611_spi_event(struct Ms5611_Spi *ms) } else { /* done reading prom, check prom crc */ if (ms5611_prom_crc_ok(ms->data.c)) { - ms->initialized = TRUE; + ms->initialized = true; ms->status = MS5611_STATUS_IDLE; } else { /* checksum error, try again */ diff --git a/sw/airborne/peripherals/ms5611_spi.h b/sw/airborne/peripherals/ms5611_spi.h index 5e8b809d29..d007edb9a0 100644 --- a/sw/airborne/peripherals/ms5611_spi.h +++ b/sw/airborne/peripherals/ms5611_spi.h @@ -39,16 +39,16 @@ struct Ms5611_Spi { volatile uint8_t tx_buf[1]; volatile uint8_t rx_buf[4]; enum Ms5611Status status; - bool_t is_ms5607; ///< TRUE if MS5607, FALSE if MS5611 - bool_t initialized; ///< config done flag - volatile bool_t data_available; ///< data ready flag + bool is_ms5607; ///< TRUE if MS5607, FALSE if MS5611 + bool initialized; ///< config done flag + volatile bool data_available; ///< data ready flag struct Ms5611Data data; int32_t prom_cnt; ///< number of bytes read from PROM }; // Functions extern void ms5611_spi_init(struct Ms5611_Spi *ms, struct spi_periph *spi_p, uint8_t addr, - bool_t is_ms5607); + bool is_ms5607); extern void ms5611_spi_start_configure(struct Ms5611_Spi *ms); extern void ms5611_spi_start_conversion(struct Ms5611_Spi *ms); extern void ms5611_spi_periodic_check(struct Ms5611_Spi *ms); diff --git a/sw/airborne/peripherals/vn200_serial.c b/sw/airborne/peripherals/vn200_serial.c index c82dbdb062..b796f5cbca 100644 --- a/sw/airborne/peripherals/vn200_serial.c +++ b/sw/airborne/peripherals/vn200_serial.c @@ -123,10 +123,10 @@ void vn200_parse(struct VNPacket *vnp, uint8_t c) vnp->msg_idx++; if (vnp->msg_idx == (vnp->datalength + 2)) { if (verify_chk(vnp->msg_buf, vnp->datalength, &(vnp->calc_chk), &(vnp->rec_chk))) { - vnp->msg_available = TRUE; + vnp->msg_available = true; vnp->counter++; } else { - vnp->msg_available = FALSE; + vnp->msg_available = false; vnp->chksm_error++; } vnp->status = VNMsgSync; diff --git a/sw/airborne/peripherals/vn200_serial.h b/sw/airborne/peripherals/vn200_serial.h index dd57948477..8228e42047 100644 --- a/sw/airborne/peripherals/vn200_serial.h +++ b/sw/airborne/peripherals/vn200_serial.h @@ -53,7 +53,7 @@ enum VNMsgStatus { }; struct VNPacket { - bool_t msg_available; + bool msg_available; uint32_t chksm_error; uint32_t hdr_error; uint8_t msg_buf[VN_BUFFER_SIZE]; diff --git a/sw/airborne/rc_settings.c b/sw/airborne/rc_settings.c index 1e880f9ae7..fa5a60e243 100644 --- a/sw/airborne/rc_settings.c +++ b/sw/airborne/rc_settings.c @@ -46,7 +46,7 @@ float slider_1_val, slider_2_val; #include "generated/settings.h" -void rc_settings(bool_t mode_changed __attribute__((unused))) +void rc_settings(bool mode_changed __attribute__((unused))) { RCSettings(mode_changed); } diff --git a/sw/airborne/rc_settings.h b/sw/airborne/rc_settings.h index ee03721831..9ce3360e61 100644 --- a/sw/airborne/rc_settings.h +++ b/sw/airborne/rc_settings.h @@ -53,7 +53,7 @@ extern uint8_t rc_settings_mode; extern float slider_1_val, slider_2_val; -void rc_settings(bool_t mode_changed); +void rc_settings(bool mode_changed); #define RcSettingsOff() (rc_settings_mode==RC_SETTINGS_MODE_NONE) diff --git a/sw/airborne/state.c b/sw/airborne/state.c index 45b5ae0833..ade27cd0a4 100644 --- a/sw/airborne/state.c +++ b/sw/airborne/state.c @@ -48,9 +48,9 @@ void stateInit(void) state.ned_to_body_orientation.status = 0; state.rate_status = 0; state.wind_air_status = 0; - state.ned_initialized_i = FALSE; - state.ned_initialized_f = FALSE; - state.utm_initialized_f = FALSE; + state.ned_initialized_i = false; + state.ned_initialized_f = false; + state.utm_initialized_f = false; } diff --git a/sw/airborne/state.h b/sw/airborne/state.h index 80fd8da0c5..17b13bc2aa 100644 --- a/sw/airborne/state.h +++ b/sw/airborne/state.h @@ -164,7 +164,7 @@ struct State { /** * true if local int coordinate frame is initialsed */ - bool_t ned_initialized_i; + bool ned_initialized_i; /** * Position in North East Down coordinates. @@ -216,7 +216,7 @@ struct State { struct LtpDef_f ned_origin_f; /// True if local float coordinate frame is initialsed - bool_t ned_initialized_f; + bool ned_initialized_f; /** * Definition of the origin of Utm coordinate system. @@ -228,7 +228,7 @@ struct State { struct UtmCoor_f utm_origin_f; /// True if utm origin (float) coordinate frame is initialsed - bool_t utm_initialized_f; + bool utm_initialized_f; /** * Position in North East Down coordinates. @@ -452,15 +452,15 @@ static inline void stateSetLocalOrigin_i(struct LtpDef_i *ltp_def) ClearBit(state.accel_status, ACCEL_NED_I); ClearBit(state.accel_status, ACCEL_NED_F); - state.ned_initialized_i = TRUE; - state.ned_initialized_f = TRUE; + state.ned_initialized_i = true; + state.ned_initialized_f = true; } /// Set the local (flat earth) coordinate frame origin from UTM (float). static inline void stateSetLocalUtmOrigin_f(struct UtmCoor_f *utm_def) { state.utm_origin_f = *utm_def; - state.utm_initialized_f = TRUE; + state.utm_initialized_f = true; /* clear bits for all local frame representations */ state.pos_status &= ~(POS_LOCAL_COORD); @@ -488,14 +488,14 @@ extern void stateCalcPositionLla_f(void); /*********************** validity test functions ******************/ /// Test if local coordinates are valid. -static inline bool_t stateIsLocalCoordinateValid(void) +static inline bool stateIsLocalCoordinateValid(void) { return ((state.ned_initialized_i || state.ned_initialized_f || state.utm_initialized_f) && (state.pos_status & (POS_LOCAL_COORD))); } /// Test if global coordinates are valid. -static inline bool_t stateIsGlobalCoordinateValid(void) +static inline bool stateIsGlobalCoordinateValid(void) { return ((state.pos_status & (POS_GLOBAL_COORD)) || stateIsLocalCoordinateValid()); } @@ -946,7 +946,7 @@ extern void stateCalcAccelEcef_f(void); /*********************** validity test functions ******************/ /// Test if accelerations are valid. -static inline bool_t stateIsAccelValid(void) +static inline bool stateIsAccelValid(void) { return (state.accel_status); } @@ -1035,7 +1035,7 @@ static inline struct EcefCoor_f *stateGetAccelEcef_f(void) /*********************** validity test functions ******************/ /// Test if attitudes are valid. -static inline bool_t stateIsAttitudeValid(void) +static inline bool stateIsAttitudeValid(void) { return (orienationCheckValid(&state.ned_to_body_orientation)); } @@ -1133,7 +1133,7 @@ extern void stateCalcBodyRates_f(void); /*********************** validity test functions ******************/ /// Test if rates are valid. -static inline bool_t stateIsRateValid(void) +static inline bool stateIsRateValid(void) { return (state.rate_status); } @@ -1198,25 +1198,25 @@ extern void stateCalcAirspeed_f(void); /************************ validity test function *******************/ /// test if wind speed is available. -static inline bool_t stateIsWindspeedValid(void) +static inline bool stateIsWindspeedValid(void) { return (state.wind_air_status &= ~((1 << WINDSPEED_I) | (1 << WINDSPEED_F))); } /// test if air speed is available. -static inline bool_t stateIsAirspeedValid(void) +static inline bool stateIsAirspeedValid(void) { return (state.wind_air_status &= ~((1 << AIRSPEED_I) | (1 << AIRSPEED_F))); } /// test if angle of attack is available. -static inline bool_t stateIsAngleOfAttackValid(void) +static inline bool stateIsAngleOfAttackValid(void) { return (state.wind_air_status &= ~(1 << AOA_F)); } /// test if sideslip is available. -static inline bool_t stateIsSideslipValid(void) +static inline bool stateIsSideslipValid(void) { return (state.wind_air_status &= ~(1 << SIDESLIP_F)); } diff --git a/sw/airborne/subsystems/actuators.c b/sw/airborne/subsystems/actuators.c index 632af1f73b..c79a434e4b 100644 --- a/sw/airborne/subsystems/actuators.c +++ b/sw/airborne/subsystems/actuators.c @@ -33,16 +33,16 @@ int16_t actuators[ACTUATORS_NB]; uint32_t actuators_delay_time; -bool_t actuators_delay_done; +bool actuators_delay_done; void actuators_init(void) { #if defined ACTUATORS_START_DELAY && ! defined SITL - actuators_delay_done = FALSE; + actuators_delay_done = false; SysTimeTimerStart(actuators_delay_time); #else - actuators_delay_done = TRUE; + actuators_delay_done = true; actuators_delay_time = 0; #endif diff --git a/sw/airborne/subsystems/actuators.h b/sw/airborne/subsystems/actuators.h index cf6845847c..0ed0343d27 100644 --- a/sw/airborne/subsystems/actuators.h +++ b/sw/airborne/subsystems/actuators.h @@ -42,7 +42,7 @@ extern void actuators_init(void); extern uint32_t actuators_delay_time; -extern bool_t actuators_delay_done; +extern bool actuators_delay_done; /** Actuators array. * Temporary storage (for debugging purpose, downlinked via telemetry) diff --git a/sw/airborne/subsystems/actuators/actuators_asctec.c b/sw/airborne/subsystems/actuators/actuators_asctec.c index 36736168fc..5627cf17f1 100644 --- a/sw/airborne/subsystems/actuators/actuators_asctec.c +++ b/sw/airborne/subsystems/actuators/actuators_asctec.c @@ -53,12 +53,12 @@ void actuators_asctec_init(void) actuators_asctec.nb_err = 0; } -void actuators_asctec_set(bool_t motors_on) +void actuators_asctec_set(bool motors_on) { #if defined ACTUATORS_START_DELAY && ! defined SITL if (!actuators_delay_done) { if (SysTimeTimer(actuators_delay_time) < USEC_OF_SEC(ACTUATORS_START_DELAY)) { return; } - else { actuators_delay_done = TRUE; } + else { actuators_delay_done = true; } } #endif diff --git a/sw/airborne/subsystems/actuators/actuators_asctec.h b/sw/airborne/subsystems/actuators/actuators_asctec.h index 85ad1a5d4f..6a06b4e30a 100644 --- a/sw/airborne/subsystems/actuators/actuators_asctec.h +++ b/sw/airborne/subsystems/actuators/actuators_asctec.h @@ -75,7 +75,7 @@ extern struct ActuatorsAsctec actuators_asctec; } extern void actuators_asctec_init(void); -extern void actuators_asctec_set(bool_t motors_on); +extern void actuators_asctec_set(bool motors_on); #define ActuatorAsctecSet(_i, _v) { actuators_asctec.cmds[_i] = _v; } #define ActuatorsAsctecInit() actuators_asctec_init() diff --git a/sw/airborne/subsystems/actuators/actuators_asctec_v2.c b/sw/airborne/subsystems/actuators/actuators_asctec_v2.c index 3c274eb11b..b2b03cab6a 100644 --- a/sw/airborne/subsystems/actuators/actuators_asctec_v2.c +++ b/sw/airborne/subsystems/actuators/actuators_asctec_v2.c @@ -59,7 +59,7 @@ void actuators_asctec_v2_set(void) i2c1_init(); #endif return; - } else { actuators_delay_done = TRUE; } + } else { actuators_delay_done = true; } } #endif diff --git a/sw/airborne/subsystems/actuators/actuators_asctec_v2_new.c b/sw/airborne/subsystems/actuators/actuators_asctec_v2_new.c index fd1ca2ed8b..5da0658e97 100644 --- a/sw/airborne/subsystems/actuators/actuators_asctec_v2_new.c +++ b/sw/airborne/subsystems/actuators/actuators_asctec_v2_new.c @@ -61,7 +61,7 @@ void actuators_asctec_v2_set(void) i2c1_init(); #endif return; - } else { actuators_delay_done = TRUE; } + } else { actuators_delay_done = true; } } #endif diff --git a/sw/airborne/subsystems/actuators/actuators_esc32.c b/sw/airborne/subsystems/actuators/actuators_esc32.c index 95c001e872..44fbca5a7c 100644 --- a/sw/airborne/subsystems/actuators/actuators_esc32.c +++ b/sw/airborne/subsystems/actuators/actuators_esc32.c @@ -61,7 +61,7 @@ static inline void actuators_esc32_disarm(uint32_t tt, uint8_t tid); static inline void actuators_esc32_start(uint32_t tt, uint8_t tid); static inline void actuators_esc32_duty(uint32_t tt, uint8_t tid, uint16_t *cmds); static inline void actuators_esc32_dir(uint32_t tt, uint8_t tid); -static bool_t actuators_esc32_play_melody(uint32_t tt, uint8_t tid, uint32_t *status_sub, +static bool actuators_esc32_play_melody(uint32_t tt, uint8_t tid, uint32_t *status_sub, uint16_t melody[][2], uint8_t length); /** When receiving messages on the CAN bus */ @@ -272,7 +272,7 @@ static inline void actuators_esc32_dir(uint32_t tt, uint8_t tid) } /** Plays a full melody */ -static bool_t actuators_esc32_play_melody(uint32_t tt, uint8_t tid, uint32_t *status_sub, +static bool actuators_esc32_play_melody(uint32_t tt, uint8_t tid, uint32_t *status_sub, uint16_t melody[][2], uint8_t length) { uint32_t timer = (*status_sub & 0x00FFFFFF) << 8; @@ -290,10 +290,10 @@ static bool_t actuators_esc32_play_melody(uint32_t tt, uint8_t tid, uint32_t *st } *status_sub = *status_sub + (1 << 24); } else if (counter == length && SysTimeTimer(timer) > timeout) { - return TRUE; + return true; } - return FALSE; + return false; } /** When the CAN bus receives a message */ diff --git a/sw/airborne/subsystems/actuators/actuators_mkk.c b/sw/airborne/subsystems/actuators/actuators_mkk.c index d1651e730a..ca893b183d 100644 --- a/sw/airborne/subsystems/actuators/actuators_mkk.c +++ b/sw/airborne/subsystems/actuators/actuators_mkk.c @@ -50,7 +50,7 @@ void actuators_mkk_set(void) if (SysTimeTimer(actuators_delay_time) < USEC_OF_SEC(ACTUATORS_START_DELAY)) { return; } else { - actuators_delay_done = TRUE; + actuators_delay_done = true; } } #endif diff --git a/sw/airborne/subsystems/actuators/actuators_mkk_v2.c b/sw/airborne/subsystems/actuators/actuators_mkk_v2.c index 8e7ecab0c1..392a61da07 100644 --- a/sw/airborne/subsystems/actuators/actuators_mkk_v2.c +++ b/sw/airborne/subsystems/actuators/actuators_mkk_v2.c @@ -69,7 +69,7 @@ void actuators_mkk_v2_set(void) #if defined ACTUATORS_START_DELAY && ! defined SITL if (!actuators_delay_done) { if (SysTimeTimer(actuators_delay_time) < USEC_OF_SEC(ACTUATORS_START_DELAY)) { return; } - else { actuators_delay_done = TRUE; } + else { actuators_delay_done = true; } } #endif diff --git a/sw/airborne/subsystems/actuators/actuators_skiron.c b/sw/airborne/subsystems/actuators/actuators_skiron.c index 05028ad095..082e52f8d5 100644 --- a/sw/airborne/subsystems/actuators/actuators_skiron.c +++ b/sw/airborne/subsystems/actuators/actuators_skiron.c @@ -49,7 +49,7 @@ void actuators_skiron_set(void) #if defined ACTUATORS_START_DELAY && ! defined SITL if (!actuators_delay_done) { if (SysTimeTimer(actuators_delay_time) < USEC_OF_SEC(ACTUATORS_START_DELAY)) { return; } - else { actuators_delay_done = TRUE; } + else { actuators_delay_done = true; } } #endif diff --git a/sw/airborne/subsystems/actuators/motor_mixing.c b/sw/airborne/subsystems/actuators/motor_mixing.c index cd96195168..0e15e9e6b3 100644 --- a/sw/airborne/subsystems/actuators/motor_mixing.c +++ b/sw/airborne/subsystems/actuators/motor_mixing.c @@ -102,7 +102,7 @@ void motor_mixing_init(void) roll_coef[i] * MOTOR_MIXING_TRIM_ROLL + pitch_coef[i] * MOTOR_MIXING_TRIM_PITCH + yaw_coef[i] * MOTOR_MIXING_TRIM_YAW; - motor_mixing.override_enabled[i] = FALSE; + motor_mixing.override_enabled[i] = false; motor_mixing.override_value[i] = MOTOR_MIXING_STOP_MOTOR; } motor_mixing.nb_failure = 0; @@ -174,7 +174,7 @@ void motor_mixing_run_spinup(uint32_t counter, uint32_t max_counter) } } -void motor_mixing_run(bool_t motors_on, bool_t override_on, pprz_t in_cmd[]) +void motor_mixing_run(bool motors_on, bool override_on, pprz_t in_cmd[]) { uint8_t i; #if !HITL diff --git a/sw/airborne/subsystems/actuators/motor_mixing.h b/sw/airborne/subsystems/actuators/motor_mixing.h index f6ac0e9b8e..90cef700ef 100644 --- a/sw/airborne/subsystems/actuators/motor_mixing.h +++ b/sw/airborne/subsystems/actuators/motor_mixing.h @@ -36,7 +36,7 @@ struct MotorMixing { int32_t commands[MOTOR_MIXING_NB_MOTOR]; int32_t trim[MOTOR_MIXING_NB_MOTOR]; - bool_t override_enabled[MOTOR_MIXING_NB_MOTOR]; + bool override_enabled[MOTOR_MIXING_NB_MOTOR]; int32_t override_value[MOTOR_MIXING_NB_MOTOR]; uint32_t nb_saturation; uint32_t nb_failure; @@ -45,7 +45,7 @@ struct MotorMixing { extern struct MotorMixing motor_mixing; extern void motor_mixing_init(void); -extern void motor_mixing_run(bool_t motors_on, bool_t override_on, pprz_t in_cmd[]); +extern void motor_mixing_run(bool motors_on, bool override_on, pprz_t in_cmd[]); extern void motor_mixing_run_spinup(uint32_t counter, uint32_t max_counter); #endif /* MOTOR_MIXING_H */ diff --git a/sw/airborne/subsystems/ahrs.h b/sw/airborne/subsystems/ahrs.h index 617bd0b377..6a00a6cf6b 100644 --- a/sw/airborne/subsystems/ahrs.h +++ b/sw/airborne/subsystems/ahrs.h @@ -51,7 +51,7 @@ #include AHRS_SECONDARY_TYPE_H #endif -typedef bool_t (*AhrsEnableOutput)(bool_t); +typedef bool (*AhrsEnableOutput)(bool); /* for settings when using secondary AHRS */ extern uint8_t ahrs_output_idx; diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c index 3c9e5ba1d2..c27ec7f856 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c +++ b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c @@ -86,10 +86,10 @@ struct AhrsFloatCmpl ahrs_fc; void ahrs_fc_init(void) { ahrs_fc.status = AHRS_FC_UNINIT; - ahrs_fc.is_aligned = FALSE; + ahrs_fc.is_aligned = false; - ahrs_fc.ltp_vel_norm_valid = FALSE; - ahrs_fc.heading_aligned = FALSE; + ahrs_fc.ltp_vel_norm_valid = false; + ahrs_fc.heading_aligned = false; /* init ltp_to_imu quaternion as zero/identity rotation */ float_quat_identity(&ahrs_fc.ltp_to_imu_quat); @@ -106,9 +106,9 @@ void ahrs_fc_init(void) ahrs_fc.mag_zeta = AHRS_MAG_ZETA; #if AHRS_GRAVITY_UPDATE_COORDINATED_TURN - ahrs_fc.correct_gravity = TRUE; + ahrs_fc.correct_gravity = true; #else - ahrs_fc.correct_gravity = FALSE; + ahrs_fc.correct_gravity = false; #endif ahrs_fc.gravity_heuristic_factor = AHRS_GRAVITY_HEURISTIC_FACTOR; @@ -119,18 +119,18 @@ void ahrs_fc_init(void) ahrs_fc.mag_cnt = 0; } -bool_t ahrs_fc_align(struct FloatRates *lp_gyro, struct FloatVect3 *lp_accel, +bool ahrs_fc_align(struct FloatRates *lp_gyro, struct FloatVect3 *lp_accel, struct FloatVect3 *lp_mag) { #if USE_MAGNETOMETER /* Compute an initial orientation from accel and mag directly as quaternion */ ahrs_float_get_quat_from_accel_mag(&ahrs_fc.ltp_to_imu_quat, lp_accel, lp_mag); - ahrs_fc.heading_aligned = TRUE; + ahrs_fc.heading_aligned = true; #else /* Compute an initial orientation from accel and just set heading to zero */ ahrs_float_get_quat_from_accel(&ahrs_fc.ltp_to_imu_quat, lp_accel); - ahrs_fc.heading_aligned = FALSE; + ahrs_fc.heading_aligned = false; #endif /* Convert initial orientation from quat to rotation matrix representations. */ @@ -140,9 +140,9 @@ bool_t ahrs_fc_align(struct FloatRates *lp_gyro, struct FloatVect3 *lp_accel, ahrs_fc.gyro_bias = *lp_gyro; ahrs_fc.status = AHRS_FC_RUNNING; - ahrs_fc.is_aligned = TRUE; + ahrs_fc.is_aligned = true; - return TRUE; + return true; } @@ -395,9 +395,9 @@ void ahrs_fc_update_gps(struct GpsState *gps_s __attribute__((unused))) #if AHRS_GRAVITY_UPDATE_COORDINATED_TURN && USE_GPS if (gps_s->fix >= GPS_FIX_3D) { ahrs_fc.ltp_vel_norm = gps_s->speed_3d / 100.; - ahrs_fc.ltp_vel_norm_valid = TRUE; + ahrs_fc.ltp_vel_norm_valid = true; } else { - ahrs_fc.ltp_vel_norm_valid = FALSE; + ahrs_fc.ltp_vel_norm_valid = false; } #endif @@ -498,7 +498,7 @@ void ahrs_fc_realign_heading(float heading) float_quat_comp(&ahrs_fc.ltp_to_imu_quat, &q, body_to_imu_quat); float_rmat_of_quat(&ahrs_fc.ltp_to_imu_rmat, &ahrs_fc.ltp_to_imu_quat); - ahrs_fc.heading_aligned = TRUE; + ahrs_fc.heading_aligned = true; } void ahrs_fc_set_body_to_imu(struct OrientationReps *body_to_imu) diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h index 4844c8f0dc..9453f946b0 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h +++ b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h @@ -47,9 +47,9 @@ struct AhrsFloatCmpl { struct FloatQuat ltp_to_imu_quat; struct FloatRMat ltp_to_imu_rmat; - bool_t correct_gravity; ///< enable gravity correction during coordinated turns + bool correct_gravity; ///< enable gravity correction during coordinated turns float ltp_vel_norm; ///< velocity norm for gravity correction during coordinated turns - bool_t ltp_vel_norm_valid; + bool ltp_vel_norm_valid; float accel_omega; ///< filter cut-off frequency for correcting the attitude from accels (pseudo-gravity measurement) float accel_zeta; ///< filter damping for correcting the gyro-bias from accels (pseudo-gravity measurement) @@ -62,7 +62,7 @@ struct AhrsFloatCmpl { uint8_t gravity_heuristic_factor; float weight; - bool_t heading_aligned; + bool heading_aligned; struct FloatVect3 mag_h; /* internal counters for the gains */ @@ -73,7 +73,7 @@ struct AhrsFloatCmpl { struct OrientationReps ltp_to_body; enum AhrsFCStatus status; - bool_t is_aligned; + bool is_aligned; }; extern struct AhrsFloatCmpl ahrs_fc; @@ -82,7 +82,7 @@ extern void ahrs_fc_init(void); extern void ahrs_fc_set_body_to_imu(struct OrientationReps *body_to_imu); extern void ahrs_fc_set_body_to_imu_quat(struct FloatQuat *q_b2i); extern void ahrs_fc_recompute_ltp_to_body(void); -extern bool_t ahrs_fc_align(struct FloatRates *lp_gyro, struct FloatVect3 *lp_accel, +extern bool ahrs_fc_align(struct FloatRates *lp_gyro, struct FloatVect3 *lp_accel, struct FloatVect3 *lp_mag); extern void ahrs_fc_propagate(struct FloatRates *gyro, float dt); extern void ahrs_fc_update_accel(struct FloatVect3 *accel, float dt); diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c index 0607ee9fe7..f7704fbaeb 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c +++ b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c @@ -35,7 +35,7 @@ PRINT_CONFIG_VAR(AHRS_FC_OUTPUT_ENABLED) /** if TRUE with push the estimation results to the state interface */ -static bool_t ahrs_fc_output_enabled; +static bool ahrs_fc_output_enabled; static uint32_t ahrs_fc_last_stamp; static uint8_t ahrs_fc_id = AHRS_COMP_ID_FC; @@ -254,7 +254,7 @@ static void gps_cb(uint8_t sender_id __attribute__((unused)), compute_body_orientation_and_rates(); } -static bool_t ahrs_fc_enable_output(bool_t enable) +static bool ahrs_fc_enable_output(bool enable) { ahrs_fc_output_enabled = enable; return ahrs_fc_output_enabled; diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c index 5215ae621a..d7afd6a593 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c +++ b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c @@ -99,7 +99,7 @@ static inline void set_dcm_matrix_from_rmat(struct FloatRMat *rmat) void ahrs_dcm_init(void) { ahrs_dcm.status = AHRS_DCM_UNINIT; - ahrs_dcm.is_aligned = FALSE; + ahrs_dcm.is_aligned = false; /* init ltp_to_imu euler with zero */ FLOAT_EULERS_ZERO(ahrs_dcm.ltp_to_imu_euler); @@ -112,11 +112,11 @@ void ahrs_dcm_init(void) ahrs_dcm.gps_speed = 0; ahrs_dcm.gps_acceleration = 0; ahrs_dcm.gps_course = 0; - ahrs_dcm.gps_course_valid = FALSE; + ahrs_dcm.gps_course_valid = false; ahrs_dcm.gps_age = 100; } -bool_t ahrs_dcm_align(struct FloatRates *lp_gyro, struct FloatVect3 *lp_accel, +bool ahrs_dcm_align(struct FloatRates *lp_gyro, struct FloatVect3 *lp_accel, struct FloatVect3 *lp_mag) { /* Compute an initial orientation using euler angles */ @@ -133,9 +133,9 @@ bool_t ahrs_dcm_align(struct FloatRates *lp_gyro, struct FloatVect3 *lp_accel, ahrs_dcm.gyro_bias = *lp_gyro; ahrs_dcm.status = AHRS_DCM_RUNNING; - ahrs_dcm.is_aligned = TRUE; + ahrs_dcm.is_aligned = true; - return TRUE; + return true; } @@ -177,9 +177,9 @@ void ahrs_dcm_update_gps(struct GpsState *gps_s) if (gps_s->gspeed >= 500) { //got a 3d fix and ground speed is more than 5.0 m/s ahrs_dcm.gps_course = ((float)gps_s->course) / 1.e7; - ahrs_dcm.gps_course_valid = TRUE; + ahrs_dcm.gps_course_valid = true; } else { - ahrs_dcm.gps_course_valid = FALSE; + ahrs_dcm.gps_course_valid = false; } } else { ahrs_dcm.gps_age = 100; @@ -282,7 +282,7 @@ void Normalize(void) float error = 0; float temporary[3][3]; float renorm = 0; - uint8_t problem = FALSE; + uint8_t problem = false; // Find the non-orthogonality of X wrt Y error = -Vector_Dot_Product(&DCM_Matrix[0][0], &DCM_Matrix[1][0]) * .5; //eq.19 @@ -309,7 +309,7 @@ void Normalize(void) renorm_sqrt_count++; #endif } else { - problem = TRUE; + problem = true; #if PERFORMANCE_REPORTING == 1 renorm_blowup_count++; #endif @@ -326,7 +326,7 @@ void Normalize(void) renorm_sqrt_count++; #endif } else { - problem = TRUE; + problem = true; #if PERFORMANCE_REPORTING == 1 renorm_blowup_count++; #endif @@ -343,7 +343,7 @@ void Normalize(void) renorm_sqrt_count++; #endif } else { - problem = TRUE; + problem = true; #if PERFORMANCE_REPORTING == 1 renorm_blowup_count++; #endif @@ -353,7 +353,7 @@ void Normalize(void) // Reset on trouble if (problem) { // Our solution is blowing up and we will force back to initial condition. Hope we are not upside down! set_dcm_matrix_from_rmat(orientationGetRMat_f(&ahrs_dcm.body_to_imu)); - problem = FALSE; + problem = false; } } diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.h b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.h index 78dfe05fec..1535b5326f 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.h +++ b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.h @@ -44,13 +44,13 @@ struct AhrsFloatDCM { float gps_speed; float gps_acceleration; float gps_course; - bool_t gps_course_valid; + bool gps_course_valid; uint8_t gps_age; struct OrientationReps body_to_imu; enum AhrsDCMStatus status; - bool_t is_aligned; + bool is_aligned; }; extern struct AhrsFloatDCM ahrs_dcm; @@ -83,7 +83,7 @@ extern float imu_health; extern void ahrs_dcm_init(void); extern void ahrs_dcm_set_body_to_imu(struct OrientationReps *body_to_imu); extern void ahrs_dcm_set_body_to_imu_quat(struct FloatQuat *q_b2i); -extern bool_t ahrs_dcm_align(struct FloatRates *lp_gyro, struct FloatVect3 *lp_accel, +extern bool ahrs_dcm_align(struct FloatRates *lp_gyro, struct FloatVect3 *lp_accel, struct FloatVect3 *lp_mag); extern void ahrs_dcm_propagate(struct FloatRates *gyro, float dt); extern void ahrs_dcm_update_accel(struct FloatVect3 *accel); diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.c index c5df92a6ce..3fd4ac4459 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.c +++ b/sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.c @@ -35,7 +35,7 @@ PRINT_CONFIG_VAR(AHRS_DCM_OUTPUT_ENABLED) /** if TRUE with push the estimation results to the state interface */ -static bool_t ahrs_dcm_output_enabled; +static bool ahrs_dcm_output_enabled; static uint32_t ahrs_dcm_last_stamp; static uint8_t ahrs_dcm_id = AHRS_COMP_ID_DCM; @@ -169,7 +169,7 @@ static void gps_cb(uint8_t sender_id __attribute__((unused)), ahrs_dcm_update_gps(gps_s); } -static bool_t ahrs_dcm_enable_output(bool_t enable) +static bool ahrs_dcm_enable_output(bool enable) { ahrs_dcm_output_enabled = enable; return ahrs_dcm_output_enabled; diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_invariant.c b/sw/airborne/subsystems/ahrs/ahrs_float_invariant.c index 9473bac8f0..e93425bdf0 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_float_invariant.c +++ b/sw/airborne/subsystems/ahrs/ahrs_float_invariant.c @@ -150,8 +150,8 @@ void ahrs_float_invariant_init(void) ahrs_float_inv.gains.n = AHRS_INV_N; ahrs_float_inv.gains.o = AHRS_INV_O; - ahrs_float_inv.is_aligned = FALSE; - ahrs_float_inv.reset = FALSE; + ahrs_float_inv.is_aligned = false; + ahrs_float_inv.reset = false; } void ahrs_float_invariant_align(struct FloatRates *lp_gyro, @@ -165,7 +165,7 @@ void ahrs_float_invariant_align(struct FloatRates *lp_gyro, ahrs_float_inv.state.bias = *lp_gyro; // ins and ahrs are now running - ahrs_float_inv.is_aligned = TRUE; + ahrs_float_inv.is_aligned = true; } void ahrs_float_invariant_propagate(struct FloatRates* gyro, float dt) @@ -173,8 +173,8 @@ void ahrs_float_invariant_propagate(struct FloatRates* gyro, float dt) // realign all the filter if needed // a complete init cycle is required if (ahrs_float_inv.reset) { - ahrs_float_inv.reset = FALSE; - ahrs_float_inv.is_aligned = FALSE; + ahrs_float_inv.reset = false; + ahrs_float_inv.is_aligned = false; init_invariant_state(); } diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_invariant.h b/sw/airborne/subsystems/ahrs/ahrs_float_invariant.h index 212b375a4a..8c48459913 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_float_invariant.h +++ b/sw/airborne/subsystems/ahrs/ahrs_float_invariant.h @@ -96,13 +96,13 @@ struct AhrsFloatInv { struct inv_correction_gains corr; ///< correction gains struct inv_gains gains; ///< tuning gains - bool_t reset; ///< flag to request reset/reinit the filter + bool reset; ///< flag to request reset/reinit the filter /** body_to_imu rotation */ struct OrientationReps body_to_imu; struct FloatVect3 mag_h; - bool_t is_aligned; + bool is_aligned; }; extern struct AhrsFloatInv ahrs_float_inv; diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_invariant_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_float_invariant_wrapper.c index cde86242ae..4ed31c934d 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_float_invariant_wrapper.c +++ b/sw/airborne/subsystems/ahrs/ahrs_float_invariant_wrapper.c @@ -38,7 +38,7 @@ PRINT_CONFIG_VAR(AHRS_INV_OUTPUT_ENABLED) /** if TRUE with push the estimation results to the state interface */ -static bool_t ahrs_finv_output_enabled; +static bool ahrs_finv_output_enabled; /** last gyro msg timestamp */ static uint32_t ahrs_finv_last_stamp = 0; static uint8_t ahrs_finv_id = AHRS_COMP_ID_FINV; @@ -204,7 +204,7 @@ static void geo_mag_cb(uint8_t sender_id __attribute__((unused)), struct FloatVe ahrs_float_inv.mag_h = *h; } -static bool_t ahrs_float_invariant_enable_output(bool_t enable) +static bool ahrs_float_invariant_enable_output(bool enable) { ahrs_finv_output_enabled = enable; return ahrs_finv_output_enabled; diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c b/sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c index e72c7cf1fc..f7c6be557b 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c +++ b/sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c @@ -62,7 +62,7 @@ struct AhrsMlkf ahrs_mlkf; void ahrs_mlkf_init(void) { - ahrs_mlkf.is_aligned = FALSE; + ahrs_mlkf.is_aligned = false; /* init ltp_to_imu quaternion as zero/identity rotation */ float_quat_identity(&ahrs_mlkf.ltp_to_imu_quat); @@ -104,7 +104,7 @@ void ahrs_mlkf_set_body_to_imu_quat(struct FloatQuat *q_b2i) } -bool_t ahrs_mlkf_align(struct FloatRates *lp_gyro, struct FloatVect3 *lp_accel, +bool ahrs_mlkf_align(struct FloatRates *lp_gyro, struct FloatVect3 *lp_accel, struct FloatVect3 *lp_mag) { @@ -114,9 +114,9 @@ bool_t ahrs_mlkf_align(struct FloatRates *lp_gyro, struct FloatVect3 *lp_accel, /* used averaged gyro as initial value for bias */ ahrs_mlkf.gyro_bias = *lp_gyro; - ahrs_mlkf.is_aligned = TRUE; + ahrs_mlkf.is_aligned = true; - return TRUE; + return true; } void ahrs_mlkf_propagate(struct FloatRates *gyro, float dt) diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_mlkf.h b/sw/airborne/subsystems/ahrs/ahrs_float_mlkf.h index 675d15eb89..1c66ff7bee 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_float_mlkf.h +++ b/sw/airborne/subsystems/ahrs/ahrs_float_mlkf.h @@ -58,7 +58,7 @@ struct AhrsMlkf { struct OrientationReps body_to_imu; enum AhrsMlkfStatus status; - bool_t is_aligned; + bool is_aligned; }; extern struct AhrsMlkf ahrs_mlkf; @@ -66,7 +66,7 @@ extern struct AhrsMlkf ahrs_mlkf; extern void ahrs_mlkf_init(void); extern void ahrs_mlkf_set_body_to_imu(struct OrientationReps *body_to_imu); extern void ahrs_mlkf_set_body_to_imu_quat(struct FloatQuat *q_b2i); -extern bool_t ahrs_mlkf_align(struct FloatRates *lp_gyro, struct FloatVect3 *lp_accel, +extern bool ahrs_mlkf_align(struct FloatRates *lp_gyro, struct FloatVect3 *lp_accel, struct FloatVect3 *lp_mag); extern void ahrs_mlkf_propagate(struct FloatRates *gyro, float dt); extern void ahrs_mlkf_update_accel(struct FloatVect3 *accel); diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c index d10dc3b1bc..65ba01f4f7 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c +++ b/sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c @@ -36,7 +36,7 @@ PRINT_CONFIG_VAR(AHRS_MLKF_OUTPUT_ENABLED) /** if TRUE with push the estimation results to the state interface */ -static bool_t ahrs_mlkf_output_enabled; +static bool ahrs_mlkf_output_enabled; static uint32_t ahrs_mlkf_last_stamp; static uint8_t ahrs_mlkf_id = AHRS_COMP_ID_MLKF; @@ -190,7 +190,7 @@ static void geo_mag_cb(uint8_t sender_id __attribute__((unused)), struct FloatVe ahrs_mlkf.mag_h = *h; } -static bool_t ahrs_mlkf_enable_output(bool_t enable) +static bool ahrs_mlkf_enable_output(bool enable) { ahrs_mlkf_output_enabled = enable; return ahrs_mlkf_output_enabled; diff --git a/sw/airborne/subsystems/ahrs/ahrs_gx3.c b/sw/airborne/subsystems/ahrs/ahrs_gx3.c index c0e171c2b6..293e59ce3b 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_gx3.c +++ b/sw/airborne/subsystems/ahrs/ahrs_gx3.c @@ -46,7 +46,7 @@ */ struct AhrsGX3 ahrs_gx3; -static inline bool_t gx3_verify_chk(volatile uint8_t *buff_add); +static inline bool gx3_verify_chk(volatile uint8_t *buff_add); static inline float bef(volatile uint8_t *c); /* Big Endian to Float */ @@ -62,7 +62,7 @@ static inline float bef(volatile uint8_t *c) return f; } -static inline bool_t gx3_verify_chk(volatile uint8_t *buff_add) +static inline bool gx3_verify_chk(volatile uint8_t *buff_add) { uint16_t i, chk_calc; chk_calc = 0; @@ -74,7 +74,7 @@ static inline bool_t gx3_verify_chk(volatile uint8_t *buff_add) void ahrs_gx3_align(void) { - ahrs_gx3.is_aligned = FALSE; + ahrs_gx3.is_aligned = false; //make the gyros zero, takes 10s (specified in Byte 4 and 5) uart_put_byte(&GX3_PORT, 0xcd); @@ -83,7 +83,7 @@ void ahrs_gx3_align(void) uart_put_byte(&GX3_PORT, 0x27); uart_put_byte(&GX3_PORT, 0x10); - ahrs_gx3.is_aligned = TRUE; + ahrs_gx3.is_aligned = true; } #if PERIODIC_TELEMETRY @@ -106,12 +106,12 @@ static void send_gx3(struct transport_tx *trans, struct link_device *dev) void imu_impl_init(void) { // Initialize variables - ahrs_gx3.is_aligned = FALSE; + ahrs_gx3.is_aligned = false; // Initialize packet ahrs_gx3.packet.status = GX3PacketWaiting; ahrs_gx3.packet.msg_idx = 0; - ahrs_gx3.packet.msg_available = FALSE; + ahrs_gx3.packet.msg_available = false; ahrs_gx3.packet.chksm_error = 0; ahrs_gx3.packet.hdr_error = 0; @@ -309,9 +309,9 @@ void gx3_packet_parse(uint8_t c) ahrs_gx3.packet.msg_idx++; if (ahrs_gx3.packet.msg_idx == GX3_MSG_LEN) { if (gx3_verify_chk(ahrs_gx3.packet.msg_buf)) { - ahrs_gx3.packet.msg_available = TRUE; + ahrs_gx3.packet.msg_available = true; } else { - ahrs_gx3.packet.msg_available = FALSE; + ahrs_gx3.packet.msg_available = false; ahrs_gx3.packet.chksm_error++; } ahrs_gx3.packet.status = 0; @@ -334,7 +334,7 @@ void ahrs_gx3_init(void) #else ahrs_gx3.mag_offset = 0.0; #endif - ahrs_gx3.is_aligned = FALSE; + ahrs_gx3.is_aligned = false; } void ahrs_gx3_register(void) diff --git a/sw/airborne/subsystems/ahrs/ahrs_gx3.h b/sw/airborne/subsystems/ahrs/ahrs_gx3.h index cf4aab3b8b..b444c8a5e9 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_gx3.h +++ b/sw/airborne/subsystems/ahrs/ahrs_gx3.h @@ -52,7 +52,7 @@ extern void gx3_packet_read_message(void); extern void gx3_packet_parse(uint8_t c); struct GX3Packet { - bool_t msg_available; + bool msg_available; uint32_t chksm_error; uint32_t hdr_error; uint8_t msg_buf[GX3_MAX_PAYLOAD]; @@ -79,7 +79,7 @@ struct AhrsGX3 { struct FloatVect3 accel; ///< measured acceleration in IMU frame struct FloatRates rate; ///< measured angular rates in IMU frame struct FloatRMat rmat; ///< measured attitude in IMU frame (rotational matrix) - bool_t is_aligned; + bool is_aligned; }; extern struct AhrsGX3 ahrs_gx3; @@ -108,7 +108,7 @@ static inline void ImuEvent(void) if (ahrs_gx3.packet.msg_available) { gx3_packet_read_message(); ahrs_gx3_publish_imu(); - ahrs_gx3.packet.msg_available = FALSE; + ahrs_gx3.packet.msg_available = false; } } diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c index ad751c447f..3497b5fae3 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c +++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c @@ -63,7 +63,7 @@ static inline void get_psi_measurement_from_mag(int32_t *psi_meas, int32_t phi_e void ahrs_ice_init(void) { ahrs_ice.status = AHRS_ICE_UNINIT; - ahrs_ice.is_aligned = FALSE; + ahrs_ice.is_aligned = false; /* init ltp_to_imu to zero */ INT_EULERS_ZERO(ahrs_ice.ltp_to_imu_euler) @@ -75,7 +75,7 @@ void ahrs_ice_init(void) ahrs_ice.mag_offset = AHRS_MAG_OFFSET; } -bool_t ahrs_ice_align(struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel, +bool ahrs_ice_align(struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel, struct Int32Vect3 *lp_mag) { @@ -94,9 +94,9 @@ bool_t ahrs_ice_align(struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel, RATES_COPY(ahrs_ice.gyro_bias, *lp_gyro); ahrs_ice.status = AHRS_ICE_RUNNING; - ahrs_ice.is_aligned = TRUE; + ahrs_ice.is_aligned = true; - return TRUE; + return true; } //#define USE_NOISE_CUT 1 @@ -105,21 +105,21 @@ bool_t ahrs_ice_align(struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel, #if USE_NOISE_CUT #include "led.h" -static inline bool_t cut_rates(struct Int32Rates i1, struct Int32Rates i2, int32_t threshold) +static inline bool cut_rates(struct Int32Rates i1, struct Int32Rates i2, int32_t threshold) { struct Int32Rates diff; RATES_DIFF(diff, i1, i2); if (diff.p < -threshold || diff.p > threshold || diff.q < -threshold || diff.q > threshold || diff.r < -threshold || diff.r > threshold) { - return TRUE; + return true; } else { - return FALSE; + return false; } } #define RATE_CUT_THRESHOLD RATE_BFP_OF_REAL(1) -static inline bool_t cut_accel(struct Int32Vect3 i1, struct Int32Vect3 i2, int32_t threshold) +static inline bool cut_accel(struct Int32Vect3 i1, struct Int32Vect3 i2, int32_t threshold) { struct Int32Vect3 diff; VECT3_DIFF(diff, i1, i2); @@ -127,10 +127,10 @@ static inline bool_t cut_accel(struct Int32Vect3 i1, struct Int32Vect3 i2, int32 diff.y < -threshold || diff.y > threshold || diff.z < -threshold || diff.z > threshold) { LED_ON(4); - return TRUE; + return true; } else { LED_OFF(4); - return FALSE; + return false; } } #define ACCEL_CUT_THRESHOLD ACCEL_BFP_OF_REAL(20) diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.h b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.h index 0a0d73079d..8408f6cfbe 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.h +++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.h @@ -54,7 +54,7 @@ struct AhrsIntCmplEuler { struct OrientationReps body_to_imu; enum AhrsICEStatus status; - bool_t is_aligned; + bool is_aligned; }; extern struct AhrsIntCmplEuler ahrs_ice; @@ -62,7 +62,7 @@ extern struct AhrsIntCmplEuler ahrs_ice; extern void ahrs_ice_init(void); extern void ahrs_ice_set_body_to_imu(struct OrientationReps *body_to_imu); extern void ahrs_ice_set_body_to_imu_quat(struct FloatQuat *q_b2i); -extern bool_t ahrs_ice_align(struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel, +extern bool ahrs_ice_align(struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel, struct Int32Vect3 *lp_mag); extern void ahrs_ice_propagate(struct Int32Rates *gyro); extern void ahrs_ice_update_accel(struct Int32Vect3 *accel); diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.c index 07fac1776d..635110397c 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.c +++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.c @@ -35,7 +35,7 @@ PRINT_CONFIG_VAR(AHRS_ICE_OUTPUT_ENABLED) /** if TRUE with push the estimation results to the state interface */ -static bool_t ahrs_ice_output_enabled; +static bool ahrs_ice_output_enabled; static uint32_t ahrs_ice_last_stamp; static uint8_t ahrs_ice_id = AHRS_COMP_ID_ICE; @@ -166,7 +166,7 @@ static void body_to_imu_cb(uint8_t sender_id __attribute__((unused)), ahrs_ice_set_body_to_imu_quat(q_b2i_f); } -static bool_t ahrs_ice_enable_output(bool_t enable) +static bool ahrs_ice_enable_output(bool enable) { ahrs_ice_output_enabled = enable; return ahrs_ice_output_enabled; diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c index 26eaa96ba9..52e01aab98 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c +++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c @@ -109,10 +109,10 @@ void ahrs_icq_init(void) { ahrs_icq.status = AHRS_ICQ_UNINIT; - ahrs_icq.is_aligned = FALSE; + ahrs_icq.is_aligned = false; - ahrs_icq.ltp_vel_norm_valid = FALSE; - ahrs_icq.heading_aligned = FALSE; + ahrs_icq.ltp_vel_norm_valid = false; + ahrs_icq.heading_aligned = false; /* init ltp_to_imu quaternion as zero/identity rotation */ int32_quat_identity(&ahrs_icq.ltp_to_imu_quat); @@ -135,9 +135,9 @@ void ahrs_icq_init(void) ahrs_icq.gravity_heuristic_factor = AHRS_GRAVITY_HEURISTIC_FACTOR; #if AHRS_GRAVITY_UPDATE_COORDINATED_TURN - ahrs_icq.correct_gravity = TRUE; + ahrs_icq.correct_gravity = true; #else - ahrs_icq.correct_gravity = FALSE; + ahrs_icq.correct_gravity = false; #endif VECT3_ASSIGN(ahrs_icq.mag_h, MAG_BFP_OF_REAL(AHRS_H_X), @@ -148,7 +148,7 @@ void ahrs_icq_init(void) } -bool_t ahrs_icq_align(struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel, +bool ahrs_icq_align(struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel, struct Int32Vect3 *lp_mag) { @@ -156,11 +156,11 @@ bool_t ahrs_icq_align(struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel, /* Compute an initial orientation from accel and mag directly as quaternion */ ahrs_int_get_quat_from_accel_mag(&ahrs_icq.ltp_to_imu_quat, lp_accel, lp_mag); - ahrs_icq.heading_aligned = TRUE; + ahrs_icq.heading_aligned = true; #else /* Compute an initial orientation from accel and just set heading to zero */ ahrs_int_get_quat_from_accel(&ahrs_icq.ltp_to_imu_quat, lp_accel); - ahrs_icq.heading_aligned = FALSE; + ahrs_icq.heading_aligned = false; // supress unused arg warning lp_mag = lp_mag; #endif @@ -171,9 +171,9 @@ bool_t ahrs_icq_align(struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel, INT_RATES_LSHIFT(ahrs_icq.high_rez_bias, ahrs_icq.high_rez_bias, 28); ahrs_icq.status = AHRS_ICQ_RUNNING; - ahrs_icq.is_aligned = TRUE; + ahrs_icq.is_aligned = true; - return TRUE; + return true; } @@ -516,9 +516,9 @@ void ahrs_icq_update_gps(struct GpsState *gps_s __attribute__((unused))) #if AHRS_GRAVITY_UPDATE_COORDINATED_TURN && USE_GPS if (gps_s->fix >= GPS_FIX_3D) { ahrs_icq.ltp_vel_norm = SPEED_BFP_OF_REAL(gps_s->speed_3d / 100.); - ahrs_icq.ltp_vel_norm_valid = TRUE; + ahrs_icq.ltp_vel_norm_valid = true; } else { - ahrs_icq.ltp_vel_norm_valid = FALSE; + ahrs_icq.ltp_vel_norm_valid = false; } #endif @@ -641,7 +641,7 @@ void ahrs_icq_realign_heading(int32_t heading) /* compute ltp to imu rotations */ int32_quat_comp(&ahrs_icq.ltp_to_imu_quat, <p_to_body_quat, body_to_imu_quat); - ahrs_icq.heading_aligned = TRUE; + ahrs_icq.heading_aligned = true; } void ahrs_icq_set_body_to_imu(struct OrientationReps *body_to_imu) diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h index 59ea681ebb..862750f22b 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h +++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h @@ -55,8 +55,8 @@ struct AhrsIntCmplQuat { struct Int32Vect3 mag_h; int32_t ltp_vel_norm; - bool_t ltp_vel_norm_valid; - bool_t heading_aligned; + bool ltp_vel_norm_valid; + bool heading_aligned; float weight; float accel_inv_kp; float accel_inv_ki; @@ -65,7 +65,7 @@ struct AhrsIntCmplQuat { /* parameters/options that can be changed */ /** enable gravity vector correction by removing centrifugal acceleration */ - bool_t correct_gravity; + bool correct_gravity; /** sets how strongly the gravity heuristic reduces accel correction. * Set to zero in order to disable gravity heuristic. @@ -101,7 +101,7 @@ struct AhrsIntCmplQuat { struct OrientationReps body_to_imu; enum AhrsICQStatus status; ///< status of the AHRS, AHRS_ICQ_UNINIT or AHRS_ICQ_RUNNING - bool_t is_aligned; + bool is_aligned; }; extern struct AhrsIntCmplQuat ahrs_icq; @@ -109,7 +109,7 @@ extern struct AhrsIntCmplQuat ahrs_icq; extern void ahrs_icq_init(void); extern void ahrs_icq_set_body_to_imu(struct OrientationReps *body_to_imu); extern void ahrs_icq_set_body_to_imu_quat(struct FloatQuat *q_b2i); -extern bool_t ahrs_icq_align(struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel, +extern bool ahrs_icq_align(struct Int32Rates *lp_gyro, struct Int32Vect3 *lp_accel, struct Int32Vect3 *lp_mag); extern void ahrs_icq_propagate(struct Int32Rates *gyro, float dt); extern void ahrs_icq_update_accel(struct Int32Vect3 *accel, float dt); diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c index accd5a40f8..9530c282b6 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c +++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c @@ -35,7 +35,7 @@ PRINT_CONFIG_VAR(AHRS_ICQ_OUTPUT_ENABLED) /** if TRUE with push the estimation results to the state interface */ -static bool_t ahrs_icq_output_enabled; +static bool ahrs_icq_output_enabled; static uint32_t ahrs_icq_last_stamp; static uint8_t ahrs_icq_id = AHRS_COMP_ID_ICQ; @@ -242,7 +242,7 @@ static void gps_cb(uint8_t sender_id __attribute__((unused)), ahrs_icq_update_gps(gps_s); } -static bool_t ahrs_icq_enable_output(bool_t enable) +static bool ahrs_icq_enable_output(bool enable) { ahrs_icq_output_enabled = enable; return ahrs_icq_output_enabled; diff --git a/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c b/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c index 458a653f87..d5c32997e1 100644 --- a/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c +++ b/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c @@ -66,7 +66,7 @@ static void launchBatterySurveyThread (void) // Functions for the generic device API static int sdlog_check_free_space(struct chibios_sdlog* p __attribute__((unused)), uint8_t len __attribute__((unused))) { - return TRUE; + return true; } static void sdlog_transmit(struct chibios_sdlog* p, uint8_t byte) @@ -92,7 +92,7 @@ void chibios_sdlog_init(struct chibios_sdlog *sdlog, FileDes *file) } -bool_t chibios_logInit(void) +bool chibios_logInit(void) { nvicSetSystemHandlerPriority(HANDLER_PENDSV, CORTEX_PRIORITY_MASK(15)); @@ -115,14 +115,14 @@ bool_t chibios_logInit(void) launchBatterySurveyThread (); - return TRUE; + return true; error: - return FALSE; + return false; } -void chibios_logFinish(bool_t flush) +void chibios_logFinish(bool flush) { if (pprzLogFile != -1) { sdLogCloseAllLogs(flush); diff --git a/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.h b/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.h index 55808d79cb..24dc62d71f 100644 --- a/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.h +++ b/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.h @@ -46,8 +46,8 @@ extern FileDes pprzLogFile; extern FileDes flightRecorderLogFile; #endif -extern bool_t chibios_logInit(void); -extern void chibios_logFinish(bool_t flush); +extern bool chibios_logInit(void); +extern void chibios_logFinish(bool flush); struct chibios_sdlog { FileDes *file; diff --git a/sw/airborne/subsystems/chibios-libopencm3/printf.c b/sw/airborne/subsystems/chibios-libopencm3/printf.c index 5428cc914e..771267e22b 100644 --- a/sw/airborne/subsystems/chibios-libopencm3/printf.c +++ b/sw/airborne/subsystems/chibios-libopencm3/printf.c @@ -45,14 +45,14 @@ static int intPow(int a, int b) } -static bool_t writeBufferWithinSize (char **buffer, const char c, size_t *size) +static bool writeBufferWithinSize (char **buffer, const char c, size_t *size) { if (*size) { **buffer = c; (*buffer)++; return (--(*size) == 0); } else { - return TRUE; + return true; } } @@ -133,7 +133,7 @@ static char *ftoa(char *p, double num, uint32_t precision) { void chvprintf(BaseSequentialStream *chp, const char *fmt, va_list ap) { char *p, *s, c, filler; int i, precision, width; - bool_t is_long, left_align; + bool is_long, left_align; long l; #if CHPRINTF_USE_FLOAT double d; @@ -154,10 +154,10 @@ void chvprintf(BaseSequentialStream *chp, const char *fmt, va_list ap) { } p = tmpbuf; s = tmpbuf; - left_align = FALSE; + left_align = false; if (*fmt == '-') { fmt++; - left_align = TRUE; + left_align = true; } filler = ' '; if (*fmt == '.') { @@ -198,7 +198,7 @@ void chvprintf(BaseSequentialStream *chp, const char *fmt, va_list ap) { } /* Long modifier.*/ if (c == 'l' || c == 'L') { - is_long = TRUE; + is_long = true; if (*fmt) c = *fmt++; } @@ -292,7 +292,7 @@ unsigned_common: void chvsnprintf(char *buffer, size_t size, const char *fmt, va_list ap) { char *p, *s, c, filler; int i, precision, width; - bool_t is_long, left_align; + bool is_long, left_align; long l; #if CHPRINTF_USE_FLOAT double d; @@ -314,10 +314,10 @@ void chvsnprintf(char *buffer, size_t size, const char *fmt, va_list ap) { } p = tmpbuf; s = tmpbuf; - left_align = FALSE; + left_align = false; if (*fmt == '-') { fmt++; - left_align = TRUE; + left_align = true; } filler = ' '; if (*fmt == '.') { @@ -357,7 +357,7 @@ void chvsnprintf(char *buffer, size_t size, const char *fmt, va_list ap) { } /* Long modifier.*/ if (c == 'l' || c == 'L') { - is_long = TRUE; + is_long = true; if (*fmt) c = *fmt++; } diff --git a/sw/airborne/subsystems/chibios-libopencm3/sdLog.c b/sw/airborne/subsystems/chibios-libopencm3/sdLog.c index 21e62e19d1..67e9e41f4a 100644 --- a/sw/airborne/subsystems/chibios-libopencm3/sdLog.c +++ b/sw/airborne/subsystems/chibios-libopencm3/sdLog.c @@ -163,7 +163,7 @@ SdioError sdLogFinish (void) #ifdef SDLOG_NEED_QUEUE SdioError sdLogOpenLog (FileDes *fd, const char* directoryName, const char* prefix, - bool_t appendTagAtClose) + bool appendTagAtClose) { FRESULT rc; /* fatfs result code */ SdioError sde; /* sdio result code */ diff --git a/sw/airborne/subsystems/chibios-libopencm3/sdLog.h b/sw/airborne/subsystems/chibios-libopencm3/sdLog.h index ecc2e10956..b9bd82fba5 100644 --- a/sw/airborne/subsystems/chibios-libopencm3/sdLog.h +++ b/sw/airborne/subsystems/chibios-libopencm3/sdLog.h @@ -119,7 +119,7 @@ SdioError sdLogFinish (void); * files. */ SdioError sdLogOpenLog (FileDes *fileObject, const char* directoryName, const char* fileName, - bool_t appendTagAtClose); + bool appendTagAtClose); /** diff --git a/sw/airborne/subsystems/chibios-libopencm3/sdio.c b/sw/airborne/subsystems/chibios-libopencm3/sdio.c index 5c06b18de2..10d68f52c2 100644 --- a/sw/airborne/subsystems/chibios-libopencm3/sdio.c +++ b/sw/airborne/subsystems/chibios-libopencm3/sdio.c @@ -52,14 +52,14 @@ static enum {STOP, CONNECT} cnxState = STOP; -bool_t sdioConnect (void) +bool sdioConnect (void) { if (!sdc_lld_is_card_inserted (NULL)) { - return FALSE; + return false; } if (cnxState == CONNECT) { - return TRUE; + return true; } /* @@ -85,23 +85,23 @@ bool_t sdioConnect (void) } cnxState = CONNECT; - return TRUE; + return true; } -bool_t sdioDisconnect (void) +bool sdioDisconnect (void) { if (cnxState == STOP) - return TRUE; + return true; if (sdcDisconnect(&SDCD1)) { - return FALSE; + return false; } sdcStop (&SDCD1); cnxState = STOP; - return TRUE; + return true; } -bool_t isCardInserted (void) +bool isCardInserted (void) { return sdc_lld_is_card_inserted (NULL); } @@ -152,7 +152,7 @@ static uint8_t inbuf[MMCSD_BLOCK_SIZE * SDC_BURST_SIZE + 1]; * read. * @retval SDC_FAILED operation failed, the state of the buffer is uncertain. */ -bool_t badblocks(uint32_t start, uint32_t end, uint32_t blockatonce, uint8_t pattern){ +bool badblocks(uint32_t start, uint32_t end, uint32_t blockatonce, uint8_t pattern){ uint32_t position = 0; uint32_t i = 0; @@ -179,10 +179,10 @@ bool_t badblocks(uint32_t start, uint32_t end, uint32_t blockatonce, uint8_t pat goto ERROR; position += blockatonce; } - return FALSE; + return false; ERROR: - return TRUE; + return true; } /** @@ -209,7 +209,7 @@ void fillbuffers(uint8_t pattern){ void cmd_sdiotest(void) { uint32_t i = 0; FRESULT err = 0; - bool_t format = FALSE; + bool format = false; chThdSleepMilliseconds(100); diff --git a/sw/airborne/subsystems/chibios-libopencm3/sdio.h b/sw/airborne/subsystems/chibios-libopencm3/sdio.h index ec07ffe30e..b55af11d53 100644 --- a/sw/airborne/subsystems/chibios-libopencm3/sdio.h +++ b/sw/airborne/subsystems/chibios-libopencm3/sdio.h @@ -1,6 +1,6 @@ #pragma once -bool_t sdioConnect (void); -bool_t sdioDisconnect (void); -bool_t isCardInserted (void); +bool sdioConnect (void); +bool sdioDisconnect (void); +bool isCardInserted (void); void cmd_sdiotest(void); diff --git a/sw/airborne/subsystems/chibios-libopencm3/usbStorage.c b/sw/airborne/subsystems/chibios-libopencm3/usbStorage.c index a1e4eaf29e..1733c5e500 100644 --- a/sw/airborne/subsystems/chibios-libopencm3/usbStorage.c +++ b/sw/airborne/subsystems/chibios-libopencm3/usbStorage.c @@ -40,7 +40,7 @@ static msg_t thdUsbStorage(void *arg); static Thread* usbStorageThreadPtr=NULL; /* USB mass storage driver */ static USBMassStorageDriver UMSD1; -static bool_t isRunning = false; +static bool isRunning = false; /* endpoint index */ #define USB_MS_DATA_EP 1 @@ -237,7 +237,7 @@ const USBConfig usbConfig = }; /* Turns on a LED when there is I/O activity on the USB port */ -static void usbActivity(bool_t active) +static void usbActivity(bool active) { if (active) palSetPad(GPIOC, GPIOC_LED4); @@ -298,7 +298,7 @@ static msg_t thdUsbStorage(void *arg) // be used concurrently by chibios api // Should be fixed when using chibios-rt branch while (!chThdShouldTerminate() && antiBounce) { - const bool_t usbConnected = palReadPad (GPIOA, GPIOA_OTG_FS_VBUS); + const bool usbConnected = palReadPad (GPIOA, GPIOA_OTG_FS_VBUS); if (usbConnected) antiBounce--; else @@ -356,7 +356,7 @@ static msg_t thdUsbStorage(void *arg) return RDY_OK; } -bool_t usbStorageIsItRunning (void) +bool usbStorageIsItRunning (void) { return isRunning; } diff --git a/sw/airborne/subsystems/chibios-libopencm3/usbStorage.h b/sw/airborne/subsystems/chibios-libopencm3/usbStorage.h index cdb33ff53f..f6e6aa678f 100644 --- a/sw/airborne/subsystems/chibios-libopencm3/usbStorage.h +++ b/sw/airborne/subsystems/chibios-libopencm3/usbStorage.h @@ -28,4 +28,4 @@ void usbStorageStartPolling (void); void usbStorageStop (void); void usbStorageWaitForDeconnexion (void); -bool_t usbStorageIsItRunning (void); +bool usbStorageIsItRunning (void); diff --git a/sw/airborne/subsystems/chibios-libopencm3/usb_msd.c b/sw/airborne/subsystems/chibios-libopencm3/usb_msd.c index dbb7c9ed2a..b6a9e9f622 100644 --- a/sw/airborne/subsystems/chibios-libopencm3/usb_msd.c +++ b/sw/airborne/subsystems/chibios-libopencm3/usb_msd.c @@ -184,7 +184,7 @@ void msdConfigureHookI(USBMassStorageDriver *msdp) * @retval TRUE Message handled internally. * @retval FALSE Message not handled. */ -bool_t msdRequestsHook(USBDriver *usbp) { +bool msdRequestsHook(USBDriver *usbp) { /* check that the request is of type Class / Interface */ if (((usbp->setup[0] & USB_RTYPE_TYPE_MASK) == USB_RTYPE_TYPE_CLASS) && @@ -192,7 +192,7 @@ bool_t msdRequestsHook(USBDriver *usbp) { /* check that the request is for interface 0 */ if (MSD_SETUP_INDEX(usbp->setup) != 0) - return FALSE; + return false; /* act depending on bRequest = setup[1] */ switch (usbp->setup[1]) { @@ -202,7 +202,7 @@ bool_t msdRequestsHook(USBDriver *usbp) { (MSD_SETUP_LENGTH(usbp->setup) != 0) || (MSD_SETUP_VALUE(usbp->setup) != 0)) { - return FALSE; + return false; } /* reset all endpoints */ @@ -210,27 +210,27 @@ bool_t msdRequestsHook(USBDriver *usbp) { /* The device shall NAK the status stage of the device request until * the Bulk-Only Mass Storage Reset is complete. */ - return TRUE; + return true; case MSD_GET_MAX_LUN: /* check that it is a DEV2HOST request */ if (((usbp->setup[0] & USB_RTYPE_DIR_MASK) != USB_RTYPE_DIR_DEV2HOST) || (MSD_SETUP_LENGTH(usbp->setup) != 1) || (MSD_SETUP_VALUE(usbp->setup) != 0)) { - return FALSE; + return false; } static uint8_t len_buf[1] = {0}; /* stall to indicate that we don't support LUN */ usbSetupTransfer(usbp, len_buf, 1, NULL); - return TRUE; + return true; default: - return FALSE; + return false; break; } } - return FALSE; + return false; } /** @@ -291,7 +291,7 @@ static inline void msd_scsi_set_sense(USBMassStorageDriver *msdp, uint8_t key, u /** * @brief Processes an INQUIRY SCSI command */ -bool_t msd_scsi_process_inquiry(USBMassStorageDriver *msdp) { +bool msd_scsi_process_inquiry(USBMassStorageDriver *msdp) { msd_cbw_t *cbw = &(msdp->cbw); @@ -305,10 +305,10 @@ bool_t msd_scsi_process_inquiry(USBMassStorageDriver *msdp) { case 0x80: { uint8_t response[] = {'0'}; /* TODO */ msd_start_transmit(msdp, response, sizeof(response)); - msdp->result = TRUE; + msdp->result = true; /* wait for ISR */ - return TRUE; + return true; } /* unhandled */ @@ -317,38 +317,38 @@ bool_t msd_scsi_process_inquiry(USBMassStorageDriver *msdp) { SCSI_SENSE_KEY_ILLEGAL_REQUEST, SCSI_ASENSE_INVALID_FIELD_IN_CDB, SCSI_ASENSEQ_NO_QUALIFIER); - return FALSE; + return false; } } else { msd_start_transmit(msdp, (const uint8_t *)&msdp->inquiry, sizeof(msdp->inquiry)); - msdp->result = TRUE; + msdp->result = true; /* wait for ISR */ - return TRUE; + return true; } } /** * @brief Processes a REQUEST_SENSE SCSI command */ -bool_t msd_scsi_process_request_sense(USBMassStorageDriver *msdp) { +bool msd_scsi_process_request_sense(USBMassStorageDriver *msdp) { msd_start_transmit(msdp, (const uint8_t *)&msdp->sense, sizeof(msdp->sense)); - msdp->result = TRUE; + msdp->result = true; /* wait for ISR immediately, otherwise the caller may reset the sense bytes before they are sent to the host! */ msd_wait_for_isr(msdp); /* ... don't wait for ISR, we just did it */ - return FALSE; + return false; } /** * @brief Processes a READ_CAPACITY_10 SCSI command */ -bool_t msd_scsi_process_read_capacity_10(USBMassStorageDriver *msdp) { +bool msd_scsi_process_read_capacity_10(USBMassStorageDriver *msdp) { static msd_scsi_read_capacity_10_response_t response; @@ -356,16 +356,16 @@ bool_t msd_scsi_process_read_capacity_10(USBMassStorageDriver *msdp) { response.last_block_addr = swap_uint32(msdp->block_dev_info.blk_num-1); msd_start_transmit(msdp, (const uint8_t *)&response, sizeof(response)); - msdp->result = TRUE; + msdp->result = true; /* wait for ISR */ - return TRUE; + return true; } /** * @brief Processes a SEND_DIAGNOSTIC SCSI command */ -bool_t msd_scsi_process_send_diagnostic(USBMassStorageDriver *msdp) { +bool msd_scsi_process_send_diagnostic(USBMassStorageDriver *msdp) { msd_cbw_t *cbw = &(msdp->cbw); @@ -375,21 +375,21 @@ bool_t msd_scsi_process_send_diagnostic(USBMassStorageDriver *msdp) { SCSI_SENSE_KEY_ILLEGAL_REQUEST, SCSI_ASENSE_INVALID_FIELD_IN_CDB, SCSI_ASENSEQ_NO_QUALIFIER); - msdp->result = FALSE; - return FALSE; + msdp->result = false; + return false; } /* TODO: actually perform the test */ - msdp->result = TRUE; + msdp->result = true; /* don't wait for ISR */ - return FALSE; + return false; } /** * @brief Processes a READ_WRITE_10 SCSI command */ -bool_t msd_scsi_process_start_read_write_10(USBMassStorageDriver *msdp) { +bool msd_scsi_process_start_read_write_10(USBMassStorageDriver *msdp) { msd_cbw_t *cbw = &(msdp->cbw); @@ -400,10 +400,10 @@ bool_t msd_scsi_process_start_read_write_10(USBMassStorageDriver *msdp) { SCSI_SENSE_KEY_DATA_PROTECT, SCSI_ASENSE_WRITE_PROTECTED, SCSI_ASENSEQ_NO_QUALIFIER); - msdp->result = FALSE; + msdp->result = false; /* don't wait for ISR */ - return FALSE; + return false; } uint32_t rw_block_address = swap_uint32(*(DWORD *)&cbw->scsi_cmd_data[2]); @@ -416,10 +416,10 @@ bool_t msd_scsi_process_start_read_write_10(USBMassStorageDriver *msdp) { SCSI_SENSE_KEY_ILLEGAL_REQUEST, SCSI_ASENSE_LOGICAL_BLOCK_ADDRESS_OUT_OF_RANGE, SCSI_ASENSEQ_NO_QUALIFIER); - msdp->result = FALSE; + msdp->result = false; /* don't wait for ISR */ - return FALSE; + return false; } if (cbw->scsi_cmd_data[0] == SCSI_CMD_WRITE_10) { @@ -445,10 +445,10 @@ bool_t msd_scsi_process_start_read_write_10(USBMassStorageDriver *msdp) { SCSI_SENSE_KEY_MEDIUM_ERROR, SCSI_ASENSE_WRITE_FAULT, SCSI_ASENSEQ_NO_QUALIFIER); - msdp->result = FALSE; + msdp->result = false; /* don't wait for ISR */ - return FALSE; + return false; } if (i < (total - 1)) { @@ -468,10 +468,10 @@ bool_t msd_scsi_process_start_read_write_10(USBMassStorageDriver *msdp) { SCSI_SENSE_KEY_MEDIUM_ERROR, SCSI_ASENSE_READ_ERROR, SCSI_ASENSEQ_NO_QUALIFIER); - msdp->result = FALSE; + msdp->result = false; /* don't wait for ISR */ - return FALSE; + return false; } /* loop over each block */ @@ -488,10 +488,10 @@ bool_t msd_scsi_process_start_read_write_10(USBMassStorageDriver *msdp) { SCSI_SENSE_KEY_MEDIUM_ERROR, SCSI_ASENSE_READ_ERROR, SCSI_ASENSEQ_NO_QUALIFIER); - msdp->result = FALSE; + msdp->result = false; /* wait for ISR (the previous transmission is still running) */ - return TRUE; + return true; } } @@ -500,16 +500,16 @@ bool_t msd_scsi_process_start_read_write_10(USBMassStorageDriver *msdp) { } } - msdp->result = TRUE; + msdp->result = true; /* don't wait for ISR */ - return FALSE; + return false; } /** * @brief Processes a START_STOP_UNIT SCSI command */ -bool_t msd_scsi_process_start_stop_unit(USBMassStorageDriver *msdp) { +bool msd_scsi_process_start_stop_unit(USBMassStorageDriver *msdp) { if ((msdp->cbw.scsi_cmd_data[4] & 0x03) == 0x02) { /* device has been ejected */ @@ -517,16 +517,16 @@ bool_t msd_scsi_process_start_stop_unit(USBMassStorageDriver *msdp) { msdp->state = MSD_EJECTED; } - msdp->result = TRUE; + msdp->result = true; /* don't wait for ISR */ - return FALSE; + return false; } /** * @brief Processes a MODE_SENSE_6 SCSI command */ -bool_t msd_scsi_process_mode_sense_6(USBMassStorageDriver *msdp) { +bool msd_scsi_process_mode_sense_6(USBMassStorageDriver *msdp) { static uint8_t response[4] = { 0x03, /* number of bytes that follow */ @@ -536,16 +536,16 @@ bool_t msd_scsi_process_mode_sense_6(USBMassStorageDriver *msdp) { }; msd_start_transmit(msdp, response, sizeof(response)); - msdp->result = TRUE; + msdp->result = true; /* wait for ISR */ - return TRUE; + return true; } /** * @brief Processes a READ_FORMAT_CAPACITIES SCSI command */ -bool_t msd_scsi_process_read_format_capacities(USBMassStorageDriver *msdp) { +bool msd_scsi_process_read_format_capacities(USBMassStorageDriver *msdp) { msd_scsi_read_format_capacities_response_t response; response.capacity_list_length = 1; @@ -553,49 +553,49 @@ bool_t msd_scsi_process_read_format_capacities(USBMassStorageDriver *msdp) { response.desc_and_block_length = swap_uint32((0x02 << 24) | (msdp->block_dev_info.blk_size & 0x00FFFFFF)); msd_start_transmit(msdp, (const uint8_t*)&response, sizeof(response)); - msdp->result = TRUE; + msdp->result = true; /* wait for ISR */ - return TRUE; + return true; } /** * @brief Processes a TEST_UNIT_READY SCSI command */ -bool_t msd_scsi_process_test_unit_ready(USBMassStorageDriver *msdp) { +bool msd_scsi_process_test_unit_ready(USBMassStorageDriver *msdp) { if (blkIsInserted(msdp->config->bbdp)) { /* device inserted and ready */ - msdp->result = TRUE; + msdp->result = true; } else { /* device not present or not ready */ msd_scsi_set_sense(msdp, SCSI_SENSE_KEY_NOT_READY, SCSI_ASENSE_MEDIUM_NOT_PRESENT, SCSI_ASENSEQ_NO_QUALIFIER); - msdp->result = FALSE; + msdp->result = false; } /* don't wait for ISR */ - return FALSE; + return false; } /** * @brief Waits for a new command block */ -bool_t msd_wait_for_command_block(USBMassStorageDriver *msdp) { +bool msd_wait_for_command_block(USBMassStorageDriver *msdp) { msd_start_receive(msdp, (uint8_t *)&msdp->cbw, sizeof(msdp->cbw)); msdp->state = MSD_READ_COMMAND_BLOCK; /* wait for ISR */ - return TRUE; + return true; } /** * @brief Reads a newly received command block */ -bool_t msd_read_command_block(USBMassStorageDriver *msdp) { +bool msd_read_command_block(USBMassStorageDriver *msdp) { msd_cbw_t *cbw = &(msdp->cbw); @@ -616,10 +616,10 @@ bool_t msd_read_command_block(USBMassStorageDriver *msdp) { chSysUnlock(); /* don't wait for ISR */ - return FALSE; + return false; } - bool_t sleep = FALSE; + bool sleep = false; /* check the command */ switch (cbw->scsi_cmd_data[0]) { @@ -657,15 +657,15 @@ bool_t msd_read_command_block(USBMassStorageDriver *msdp) { break; case SCSI_CMD_FORMAT_UNIT: /* don't handle */ - msdp->result = TRUE; + msdp->result = true; break; case SCSI_CMD_PREVENT_ALLOW_MEDIUM_REMOVAL: /* don't handle */ - msdp->result = TRUE; + msdp->result = true; break; case SCSI_CMD_VERIFY_10: /* don't handle */ - msdp->result = TRUE; + msdp->result = true; break; default: msd_scsi_set_sense(msdp, @@ -678,7 +678,7 @@ bool_t msd_read_command_block(USBMassStorageDriver *msdp) { usbStallTransmitI(msdp->config->usbp, msdp->config->bulk_ep); chSysUnlock(); - return FALSE; + return false; } if (msdp->result) { @@ -705,7 +705,7 @@ bool_t msd_read_command_block(USBMassStorageDriver *msdp) { usbStallTransmitI(msdp->config->usbp, msdp->config->bulk_ep); chSysUnlock(); - /*return FALSE;*/ + /*return false;*/ } /* update the command status wrapper and send it to the host */ @@ -717,7 +717,7 @@ bool_t msd_read_command_block(USBMassStorageDriver *msdp) { msd_start_transmit(msdp, (const uint8_t *)csw, sizeof(*csw)); /* wait for ISR */ - return TRUE; + return true; } /** @@ -730,13 +730,13 @@ static msg_t mass_storage_thread(void *arg) { chRegSetThreadName("USB-MSD"); - bool_t wait_for_isr = FALSE; + bool wait_for_isr = false; /* wait for the usb to be initialised */ msd_wait_for_isr(msdp); while (!chThdShouldTerminate()) { - wait_for_isr = FALSE; + wait_for_isr = false; /* wait on data depending on the current state */ switch (msdp->state) { diff --git a/sw/airborne/subsystems/chibios-libopencm3/usb_msd.h b/sw/airborne/subsystems/chibios-libopencm3/usb_msd.h index 249db80418..cb37a0eb42 100644 --- a/sw/airborne/subsystems/chibios-libopencm3/usb_msd.h +++ b/sw/airborne/subsystems/chibios-libopencm3/usb_msd.h @@ -111,7 +111,7 @@ typedef struct { * @note The callback is called with argument TRUE when activity starts, * and FALSE when activity stops. */ - void (*rw_activity_callback)(bool_t); + void (*rw_activity_callback)(bool); /** * @brief Short vendor identification @@ -149,7 +149,7 @@ typedef struct { msd_csw_t csw; msd_scsi_sense_response_t sense; msd_scsi_inquiry_response_t inquiry; - bool_t result; + bool result; } USBMassStorageDriver; #ifdef __cplusplus @@ -200,7 +200,7 @@ void msdConfigureHookI(USBMassStorageDriver *msdp); * @retval TRUE Message handled internally. * @retval FALSE Message not handled. */ -bool_t msdRequestsHook(USBDriver *usbp); +bool msdRequestsHook(USBDriver *usbp); #ifdef __cplusplus } diff --git a/sw/airborne/subsystems/chibios-libopencm3/varLengthMsgQ.c b/sw/airborne/subsystems/chibios-libopencm3/varLengthMsgQ.c index 2a1801570a..c2620d950b 100644 --- a/sw/airborne/subsystems/chibios-libopencm3/varLengthMsgQ.c +++ b/sw/airborne/subsystems/chibios-libopencm3/varLengthMsgQ.c @@ -30,18 +30,18 @@ void varLenMsgDynamicInit (VarLenMsgQueue* que) que->sparseChunkNumber=0; } -bool_t varLenMsgQueueIsFull (VarLenMsgQueue* que) +bool varLenMsgQueueIsFull (VarLenMsgQueue* que) { varLenMsgQueueLock (que); - bool_t retVal = ringBufferIsFull (&que->circBuf) || chMBGetFreeCountI (&que->mb) <= 0; + bool retVal = ringBufferIsFull (&que->circBuf) || chMBGetFreeCountI (&que->mb) <= 0; varLenMsgQueueUnlock (); return retVal; } -bool_t varLenMsgQueueIsEmpty (VarLenMsgQueue* que) +bool varLenMsgQueueIsEmpty (VarLenMsgQueue* que) { varLenMsgQueueLock (que); - bool_t retVal = ringBufferIsEmpty (&que->circBuf) && chMBGetUsedCountI (&que->mb) <= 0; + bool retVal = ringBufferIsEmpty (&que->circBuf) && chMBGetUsedCountI (&que->mb) <= 0; varLenMsgQueueUnlock (); return retVal; } @@ -152,7 +152,7 @@ int32_t varLenMsgQueuePopTimeout (VarLenMsgQueue* que, void* msg, // OUT OF BAND CONDITION pushSparseChunkMap (que, mpl); // DebugTrace ("pushSparseChunkMap (ptr=%d len=%d)", mpl.ptr, mpl.len); - // oobCondition=TRUE; + // oobCondition=true; const uint16_t sizeToCopy = msgLen < mpl.len ? msgLen : mpl.len; retVal = ringBufferCopyFromAddr(&que->circBuf, mpl.ptr, msg, sizeToCopy); } else { @@ -391,33 +391,33 @@ static uint16_t popSparseChunkMap (VarLenMsgQueue* que, const uint16_t mplAddr) return associatedLen; } -bool_t varLenMsgQueueTestIntegrityIfEmpty(VarLenMsgQueue* que) +bool varLenMsgQueueTestIntegrityIfEmpty(VarLenMsgQueue* que) { - bool_t retVal = TRUE; + bool retVal = true; varLenMsgQueueLock(que); int32_t status; if ((status = chMBGetUsedCountI (&que->mb)) > 0) { DebugTrace ("Error: mailbox not empty : [%d]", status); - retVal=FALSE; + retVal=false; goto unlockAndExit; } if (! ringBufferIsEmpty (&que->circBuf)) { DebugTrace ("Error: circular buffer not empty"); - retVal=FALSE; + retVal=false; goto unlockAndExit; } if (que->sparseChunkNumber != 0) { DebugTrace ("Error: sparseChunkNumber not NULL"); - retVal=FALSE; + retVal=false; goto unlockAndExit; } if (que->mbReservedSlot != 0) { DebugTrace ("Error: mbReservedSlot not NULL"); - retVal=FALSE; + retVal=false; goto unlockAndExit; } @@ -425,7 +425,7 @@ bool_t varLenMsgQueueTestIntegrityIfEmpty(VarLenMsgQueue* que) for (uint16_t i=0; i< que->mbAndSparseChunkSize; i++) { if (que->sparseChunkMap[i].len != 0) { DebugTrace ("Error: sparseChunkMap not erased"); - retVal=FALSE; + retVal=false; goto unlockAndExit; } } diff --git a/sw/airborne/subsystems/chibios-libopencm3/varLengthMsgQ.h b/sw/airborne/subsystems/chibios-libopencm3/varLengthMsgQ.h index 9e0e621b71..1945c10b9a 100644 --- a/sw/airborne/subsystems/chibios-libopencm3/varLengthMsgQ.h +++ b/sw/airborne/subsystems/chibios-libopencm3/varLengthMsgQ.h @@ -105,7 +105,7 @@ void varLenMsgDynamicInit (VarLenMsgQueue* que); parameters : queue object return value: TRUE if queue if full, FALSE otherwise */ -bool_t varLenMsgQueueIsFull (VarLenMsgQueue* que); +bool varLenMsgQueueIsFull (VarLenMsgQueue* que); /* goal : test if queue is empty @@ -113,7 +113,7 @@ bool_t varLenMsgQueueIsFull (VarLenMsgQueue* que); parameters : queue object return value: TRUE if queue if empty, FALSE otherwise */ -bool_t varLenMsgQueueIsEmpty (VarLenMsgQueue* que); +bool varLenMsgQueueIsEmpty (VarLenMsgQueue* que); /* goal : return used size in circular buffer, @@ -239,7 +239,7 @@ void varLenMsgQueueFreeChunk (VarLenMsgQueue* que, const ChunkBufferRO *cbuf); parameters : queue object return value: TRUE if OK, FALSE if ERROR */ -bool_t varLenMsgQueueTestIntegrityIfEmpty(VarLenMsgQueue* que); +bool varLenMsgQueueTestIntegrityIfEmpty(VarLenMsgQueue* que); /* goal : give literal message from a status error code @@ -271,7 +271,7 @@ typedef union { struct VarLenMsgQueue { const uint16_t mbAndSparseChunkSize; - const bool_t useZeroCopyApi; + const bool useZeroCopyApi; uint16_t mbReservedSlot; Mutex mtx ; Mailbox mb; diff --git a/sw/airborne/subsystems/datalink/bluegiga.c b/sw/airborne/subsystems/datalink/bluegiga.c index 82e83e41e9..b7135a1532 100644 --- a/sw/airborne/subsystems/datalink/bluegiga.c +++ b/sw/airborne/subsystems/datalink/bluegiga.c @@ -77,10 +77,10 @@ static int dev_check_free_space(struct bluegiga_periph *p, uint8_t len) // check if there is enough space for message // NB if BLUEGIGA_BUFFER_SIZE is smaller than 256 then an additional check is needed that len < BLUEGIGA_BUFFER_SIZE if (len - 1 <= ((p->tx_extract_idx - p->tx_insert_idx - 1 + BLUEGIGA_BUFFER_SIZE) % BLUEGIGA_BUFFER_SIZE)) { - return TRUE; + return true; } - return FALSE; + return false; } static void dev_put_byte(struct bluegiga_periph *p, uint8_t byte) { @@ -110,7 +110,7 @@ static void trans_cb(struct spi_transaction *trans) } /* check if character available in receive buffer */ -bool_t bluegiga_ch_available(struct bluegiga_periph *p) +bool bluegiga_ch_available(struct bluegiga_periph *p) { return (p->rx_extract_idx != p->rx_insert_idx); } diff --git a/sw/airborne/subsystems/datalink/bluegiga.h b/sw/airborne/subsystems/datalink/bluegiga.h index 52ac935593..5b9ef9f059 100644 --- a/sw/airborne/subsystems/datalink/bluegiga.h +++ b/sw/airborne/subsystems/datalink/bluegiga.h @@ -72,7 +72,7 @@ struct bluegiga_periph { extern struct bluegiga_periph bluegiga_p; extern signed char bluegiga_rssi[]; // values initialized with 127 -bool_t bluegiga_ch_available(struct bluegiga_periph *p); +bool bluegiga_ch_available(struct bluegiga_periph *p); void bluegiga_increment_buf(uint8_t *buf_idx, uint8_t len); void bluegiga_init(struct bluegiga_periph *p); diff --git a/sw/airborne/subsystems/datalink/datalink.c b/sw/airborne/subsystems/datalink/datalink.c index 92916fd244..986168c011 100644 --- a/sw/airborne/subsystems/datalink/datalink.c +++ b/sw/airborne/subsystems/datalink/datalink.c @@ -59,7 +59,7 @@ #define MOfCm(_x) (((float)(_x))/100.) #if USE_NPS -bool_t datalink_enabled = TRUE; +bool datalink_enabled = true; #endif void dl_parse_msg(void) diff --git a/sw/airborne/subsystems/datalink/datalink.h b/sw/airborne/subsystems/datalink/datalink.h index 8d4a53c456..e8c77a6915 100644 --- a/sw/airborne/subsystems/datalink/datalink.h +++ b/sw/airborne/subsystems/datalink/datalink.h @@ -48,7 +48,7 @@ #define BLUEGIGA 5 /** Flag provided to control calls to ::dl_parse_msg. NOT used in this module*/ -EXTERN bool_t dl_msg_available; +EXTERN bool dl_msg_available; /** time in seconds since last datalink message was received */ EXTERN uint16_t datalink_time; @@ -66,7 +66,7 @@ EXTERN void dl_parse_msg(void); EXTERN void firmware_parse_msg(void); #if USE_NPS -EXTERN bool_t datalink_enabled; +EXTERN bool datalink_enabled; #endif /** Convenience macro to fill dl_buffer */ @@ -75,7 +75,7 @@ EXTERN bool_t datalink_enabled; for (_i = 0; _i < _len; _i++) { \ dl_buffer[_i] = _buf[_i]; \ } \ - dl_msg_available = TRUE; \ + dl_msg_available = true; \ } /** Check for new message and parse */ @@ -92,7 +92,7 @@ static inline void DlCheckAndParse(void) datalink_time = 0; datalink_nb_msgs++; dl_parse_msg(); - dl_msg_available = FALSE; + dl_msg_available = false; } } @@ -106,7 +106,7 @@ static inline void DlCheckAndParse(void) #elif defined DATALINK && DATALINK == XBEE #define DatalinkEvent() { \ - xbee_check_and_parse(&(XBEE_UART).device, &xbee_tp, dl_buffer, (uint8_t*)(&dl_msg_available)); \ + xbee_check_and_parse(&(XBEE_UART).device, &xbee_tp, dl_buffer, &dl_msg_available); \ DlCheckAndParse(); \ } @@ -127,7 +127,7 @@ static inline void DlCheckAndParse(void) #elif defined DATALINK && DATALINK == BLUEGIGA #define DatalinkEvent() { \ - pprz_check_and_parse(&(DOWNLINK_DEVICE).device, &pprz_tp, dl_buffer, (uint8_t*)(&dl_msg_available)); \ + pprz_check_and_parse(&(DOWNLINK_DEVICE).device, &pprz_tp, dl_buffer, &dl_msg_available); \ DlCheckAndParse(); \ } diff --git a/sw/airborne/subsystems/datalink/superbitrf.c b/sw/airborne/subsystems/datalink/superbitrf.c index f994a3b748..9bfd074e13 100644 --- a/sw/airborne/subsystems/datalink/superbitrf.c +++ b/sw/airborne/subsystems/datalink/superbitrf.c @@ -70,9 +70,9 @@ PRINT_CONFIG_VAR(SUPERBITRF_FORCE_DSM2) struct SuperbitRF superbitrf; /* The internal functions */ -static inline void superbitrf_radio_to_channels(uint8_t *data, uint8_t nb_channels, bool_t is_11bit, int16_t *channels); -static inline void superbitrf_receive_packet_cb(bool_t error, uint8_t status, uint8_t packet[]); -static inline void superbitrf_send_packet_cb(bool_t error); +static inline void superbitrf_radio_to_channels(uint8_t *data, uint8_t nb_channels, bool is_11bit, int16_t *channels); +static inline void superbitrf_receive_packet_cb(bool error, uint8_t status, uint8_t packet[]); +static inline void superbitrf_send_packet_cb(bool error); static inline void superbitrf_gen_dsmx_channels(void); /* The startup configuration for the cyrf6936 */ @@ -201,7 +201,7 @@ static void send_superbit(struct transport_tx *trans, struct link_device *dev) #endif // Functions for the generic device API -static bool_t superbitrf_check_free_space(struct SuperbitRF *p, uint8_t len) +static bool superbitrf_check_free_space(struct SuperbitRF *p, uint8_t len) { int16_t space = p->tx_extract_idx - p->tx_insert_idx; if (space <= 0) { @@ -289,7 +289,7 @@ void superbitrf_event(void) { uint8_t i, pn_row, data_code[16]; static uint8_t packet_size, tx_packet[16]; - static bool_t start_transfer = TRUE; + static bool start_transfer = true; #ifdef RADIO_CONTROL_LED static uint32_t slowLedCpt = 0; @@ -317,7 +317,7 @@ void superbitrf_event(void) superbitrf.rx_packet_count++; // Reset the packet receiving - superbitrf.cyrf6936.has_irq = FALSE; + superbitrf.cyrf6936.has_irq = false; } /* Check if it has a valid send */ @@ -327,7 +327,7 @@ void superbitrf_event(void) superbitrf.tx_packet_count++; // Reset the packet receiving - superbitrf.cyrf6936.has_irq = FALSE; + superbitrf.cyrf6936.has_irq = false; } } @@ -340,7 +340,7 @@ void superbitrf_event(void) if (cyrf6936_multi_write(&superbitrf.cyrf6936, cyrf_stratup_config, 11)) { // Check if need to go to bind or transfer if (gpio_get(SPEKTRUM_BIND_PIN_PORT, SPEKTRUM_BIND_PIN) == 0) { - start_transfer = FALSE; + start_transfer = false; } superbitrf.status = SUPERBITRF_INIT_BINDING; @@ -379,7 +379,7 @@ void superbitrf_event(void) // Try to write the transfer config if (cyrf6936_multi_write(&superbitrf.cyrf6936, cyrf_transfer_config, 4)) { superbitrf.resync_count = 0; - superbitrf.packet_loss = FALSE; + superbitrf.packet_loss = false; superbitrf.packet_loss_bit = 0; superbitrf.status = SUPERBITRF_SYNCING_A; superbitrf.state = 1; @@ -611,7 +611,7 @@ void superbitrf_event(void) case 0: // Fixing timer overflow if (superbitrf.timer_overflow && get_sys_time_usec() <= superbitrf.timer) { - superbitrf.timer_overflow = FALSE; + superbitrf.timer_overflow = false; } // When there is a timeout @@ -636,9 +636,9 @@ void superbitrf_event(void) // Set the timer superbitrf.timer = (get_sys_time_usec() + SUPERBITRF_DATARECV_TIME) % 0xFFFFFFFF; if (superbitrf.timer < get_sys_time_usec()) { - superbitrf.timer_overflow = TRUE; + superbitrf.timer_overflow = true; } else { - superbitrf.timer_overflow = FALSE; + superbitrf.timer_overflow = false; } // Only send on channel 2 @@ -694,7 +694,7 @@ void superbitrf_event(void) case 6: // Fixing timer overflow if (superbitrf.timer_overflow && get_sys_time_usec() <= superbitrf.timer) { - superbitrf.timer_overflow = FALSE; + superbitrf.timer_overflow = false; } // Waiting for data receive @@ -736,9 +736,9 @@ void superbitrf_event(void) superbitrf.timer = (superbitrf.timer - SUPERBITRF_DATARECV_TIME + SUPERBITRF_RECV_SHORT_TIME) % 0xFFFFFFFF; } if (superbitrf.timer < get_sys_time_usec()) { - superbitrf.timer_overflow = TRUE; + superbitrf.timer_overflow = true; } else { - superbitrf.timer_overflow = FALSE; + superbitrf.timer_overflow = false; } superbitrf.state = 0; @@ -755,7 +755,7 @@ void superbitrf_event(void) /** * When we receive a packet this callback is called */ -static inline void superbitrf_receive_packet_cb(bool_t error, uint8_t status, uint8_t packet[]) +static inline void superbitrf_receive_packet_cb(bool error, uint8_t status, uint8_t packet[]) { int i; uint16_t sum; @@ -851,9 +851,9 @@ static inline void superbitrf_receive_packet_cb(bool_t error, uint8_t status, ui // Check if it is a data loss packet if (packet[1] != (~superbitrf.bind_mfg_id[3] + 1 + superbitrf.packet_loss_bit) % 0xFF && packet[1] != (superbitrf.bind_mfg_id[3] + 1 + superbitrf.packet_loss_bit) % 0xFF) { - superbitrf.packet_loss = TRUE; + superbitrf.packet_loss = true; } else { - superbitrf.packet_loss = FALSE; + superbitrf.packet_loss = false; } // When it is a data packet, parse the packet if not busy already @@ -864,7 +864,7 @@ static inline void superbitrf_receive_packet_cb(bool_t error, uint8_t status, ui // When we have a full message if (superbitrf.rx_transport.trans_rx.msg_received) { DatalinkFillDlBuffer(superbitrf.rx_transport.trans_rx.payload, superbitrf.rx_transport.trans_rx.payload_len); - superbitrf.rx_transport.trans_rx.msg_received = FALSE; + superbitrf.rx_transport.trans_rx.msg_received = false; } } } @@ -924,7 +924,7 @@ static inline void superbitrf_receive_packet_cb(bool_t error, uint8_t status, ui // When we have a full message if (superbitrf.rx_transport.trans_rx.msg_received) { DatalinkFillDlBuffer(superbitrf.rx_transport.trans_rx.payload, superbitrf.rx_transport.trans_rx.payload_len); - superbitrf.rx_transport.trans_rx.msg_received = FALSE; + superbitrf.rx_transport.trans_rx.msg_received = false; } } } @@ -977,7 +977,7 @@ static inline void superbitrf_receive_packet_cb(bool_t error, uint8_t status, ui // Parse the packet superbitrf_radio_to_channels(&packet[2], superbitrf.num_channels, superbitrf.resolution, superbitrf.rc_values); - superbitrf.rc_frame_available = TRUE; + superbitrf.rc_frame_available = true; // Calculate the timing (seperately for the channel switches) if (superbitrf.crc_seed != ((superbitrf.bind_mfg_id[0] << 8) + superbitrf.bind_mfg_id[1])) { @@ -995,12 +995,12 @@ static inline void superbitrf_receive_packet_cb(bool_t error, uint8_t status, ui // Check if it is a data loss packet if (packet[1] != (~superbitrf.bind_mfg_id[3] + 1 + superbitrf.packet_loss_bit) && packet[1] != (superbitrf.bind_mfg_id[3] + 1 + superbitrf.packet_loss_bit)) { - superbitrf.packet_loss = TRUE; + superbitrf.packet_loss = true; } else { - superbitrf.packet_loss = FALSE; + superbitrf.packet_loss = false; } - superbitrf.packet_loss = FALSE; + superbitrf.packet_loss = false; // When it is a data packet, parse the packet if not busy already if (!dl_msg_available && !superbitrf.packet_loss) { @@ -1010,7 +1010,7 @@ static inline void superbitrf_receive_packet_cb(bool_t error, uint8_t status, ui // When we have a full message if (superbitrf.rx_transport.trans_rx.msg_received) { DatalinkFillDlBuffer(superbitrf.rx_transport.trans_rx.payload, superbitrf.rx_transport.trans_rx.payload_len); - superbitrf.rx_transport.trans_rx.msg_received = FALSE; + superbitrf.rx_transport.trans_rx.msg_received = false; } } } @@ -1026,7 +1026,7 @@ static inline void superbitrf_receive_packet_cb(bool_t error, uint8_t status, ui } } -static inline void superbitrf_send_packet_cb(bool_t error __attribute__((unused))) +static inline void superbitrf_send_packet_cb(bool error __attribute__((unused))) { /* Switch on the status of the superbitRF */ switch (superbitrf.status) { @@ -1057,7 +1057,7 @@ static inline void superbitrf_send_packet_cb(bool_t error __attribute__((unused) /** * Parse a radio channel packet */ -static inline void superbitrf_radio_to_channels(uint8_t *data, uint8_t nb_channels, bool_t is_11bit, int16_t *channels) +static inline void superbitrf_radio_to_channels(uint8_t *data, uint8_t nb_channels, bool is_11bit, int16_t *channels) { int i; uint8_t bit_shift = (is_11bit) ? 11 : 10; diff --git a/sw/airborne/subsystems/datalink/superbitrf.h b/sw/airborne/subsystems/datalink/superbitrf.h index 9d194a6497..25f0d83390 100644 --- a/sw/airborne/subsystems/datalink/superbitrf.h +++ b/sw/airborne/subsystems/datalink/superbitrf.h @@ -78,12 +78,12 @@ struct SuperbitRF { volatile enum SuperbitRFStatus status; /**< The status of the superbitRF */ uint8_t state; /**< The states each status can be in */ uint32_t timer; /**< The timer in microseconds */ - bool_t timer_overflow; /**< When the timer overflows */ + bool timer_overflow; /**< When the timer overflows */ uint8_t timeouts; /**< The amount of timeouts */ uint32_t transfer_timeouts; /**< The amount of timeouts during transfer */ uint32_t resync_count; /**< The amount of resyncs needed during transfer */ uint8_t packet_loss_bit; /**< The packet loss indicating bit */ - bool_t packet_loss; /**< When we have packet loss last packet */ + bool packet_loss; /**< When we have packet loss last packet */ uint8_t channels[23]; /**< The channels used for DSM2/DSMX */ uint8_t channel_idx; /**< The current channel index */ @@ -103,7 +103,7 @@ struct SuperbitRF { uint8_t sop_col; /**< The sop code column number calculated with the bind MFG id */ uint8_t data_col; /**< The data code column number calculated with the bind MFG id */ - bool_t rc_frame_available; /**< When a RC frame is available */ + bool rc_frame_available; /**< When a RC frame is available */ uint32_t timing1; /**< Time between last receive in microseconds */ uint32_t timing2; /**< Time between second last receive in microseconds */ int16_t rc_values[14]; /**< The rc values from the packet */ diff --git a/sw/airborne/subsystems/datalink/w5100.c b/sw/airborne/subsystems/datalink/w5100.c index 4b040e0488..30df7d696b 100644 --- a/sw/airborne/subsystems/datalink/w5100.c +++ b/sw/airborne/subsystems/datalink/w5100.c @@ -169,7 +169,7 @@ static inline uint16_t w5100_sock_get16(uint8_t _sock, uint16_t _reg) } // Functions for the generic device API -static int true_function(struct w5100_periph *p __attribute__((unused)), uint8_t len __attribute__((unused))) { return TRUE; } +static int true_function(struct w5100_periph *p __attribute__((unused)), uint8_t len __attribute__((unused))) { return true; } static void dev_transmit(struct w5100_periph *p __attribute__((unused)), uint8_t byte) { w5100_transmit(byte); } static void dev_send(struct w5100_periph *p __attribute__((unused))) { w5100_send(); } static int dev_char_available(struct w5100_periph *p __attribute__((unused))) { return w5100_ch_available; } @@ -361,12 +361,12 @@ static void configure_socket(uint8_t _s, uint8_t _flag, uint16_t _lport, uint16_ w5100_sock_set(_s, SOCK_CR, SOCK_OPEN); } -bool_t w5100_ch_available() +bool w5100_ch_available() { if (w5100_rx_size(CMD_SOCKET) > 0) { - return TRUE; + return true; } - return FALSE; + return false; } uint16_t w5100_receive(uint8_t *buf, uint16_t len __attribute__((unused))) diff --git a/sw/airborne/subsystems/datalink/w5100.h b/sw/airborne/subsystems/datalink/w5100.h index 360cb695cf..9dd888831e 100644 --- a/sw/airborne/subsystems/datalink/w5100.h +++ b/sw/airborne/subsystems/datalink/w5100.h @@ -69,7 +69,7 @@ void w5100_transmit(uint8_t data); uint16_t w5100_receive(uint8_t *buf, uint16_t len); void w5100_send(void); uint16_t w5100_rx_size(uint8_t _s); -bool_t w5100_ch_available(void); +bool w5100_ch_available(void); // W5100 is using pprz_transport @@ -96,7 +96,7 @@ static inline void w5100_check_and_parse(struct link_device *dev, struct pprz_tr w5100_read_buffer(trans); if (trans->trans_rx.msg_received) { DatalinkFillDlBuffer(trans->trans_rx.payload, trans->trans_rx.payload_len); - trans->trans_rx.msg_received = FALSE; + trans->trans_rx.msg_received = false; } } } diff --git a/sw/airborne/subsystems/electrical.c b/sw/airborne/subsystems/electrical.c index 99d376809c..649f55e679 100644 --- a/sw/airborne/subsystems/electrical.c +++ b/sw/airborne/subsystems/electrical.c @@ -102,8 +102,8 @@ void electrical_init(void) electrical.current = 0; electrical.energy = 0; - electrical.bat_low = FALSE; - electrical.bat_critical = FALSE; + electrical.bat_low = false; + electrical.bat_critical = false; #if defined ADC_CHANNEL_VSUPPLY adc_buf_channel(ADC_CHANNEL_VSUPPLY, &electrical_priv.vsupply_adc_buf, DEFAULT_AV_NB_SAMPLE); @@ -122,7 +122,7 @@ void electrical_periodic(void) { static uint32_t bat_low_counter = 0; static uint32_t bat_critical_counter = 0; - static bool_t vsupply_check_started = FALSE; + static bool vsupply_check_started = false; #if defined(ADC_CHANNEL_VSUPPLY) && !defined(SITL) electrical.vsupply = 10 * VoltageOfAdc((electrical_priv.vsupply_adc_buf.sum / @@ -183,7 +183,7 @@ void electrical_periodic(void) /*if valid voltage is seen then start checking. Set min level to 0 to always start*/ if (electrical.vsupply >= MIN_BAT_LEVEL * 10) { - vsupply_check_started = TRUE; + vsupply_check_started = true; } if (vsupply_check_started) { @@ -192,12 +192,12 @@ void electrical_periodic(void) bat_low_counter--; } if (bat_low_counter == 0) { - electrical.bat_low = TRUE; + electrical.bat_low = true; } } else { // reset battery low status and counter bat_low_counter = BAT_CHECKER_DELAY * ELECTRICAL_PERIODIC_FREQ; - electrical.bat_low = FALSE; + electrical.bat_low = false; } if (electrical.vsupply < CRITIC_BAT_LEVEL * 10) { @@ -205,12 +205,12 @@ void electrical_periodic(void) bat_critical_counter--; } if (bat_critical_counter == 0) { - electrical.bat_critical = TRUE; + electrical.bat_critical = true; } } else { // reset battery critical status and counter bat_critical_counter = BAT_CHECKER_DELAY * ELECTRICAL_PERIODIC_FREQ; - electrical.bat_critical = FALSE; + electrical.bat_critical = false; } } diff --git a/sw/airborne/subsystems/electrical.h b/sw/airborne/subsystems/electrical.h index b805949fb8..0580a182fc 100644 --- a/sw/airborne/subsystems/electrical.h +++ b/sw/airborne/subsystems/electrical.h @@ -49,8 +49,8 @@ struct Electrical { int32_t current; ///< current in milliamps int32_t consumed; ///< consumption in mAh float energy; ///< consumed energy in mAh - bool_t bat_low; ///< battery low status - bool_t bat_critical; ///< battery critical status + bool bat_low; ///< battery low status + bool bat_critical; ///< battery critical status }; diff --git a/sw/airborne/subsystems/gps.h b/sw/airborne/subsystems/gps.h index afe639f616..6295f27943 100644 --- a/sw/airborne/subsystems/gps.h +++ b/sw/airborne/subsystems/gps.h @@ -149,11 +149,11 @@ extern void gps_inject_data(uint8_t packet_id, uint8_t length, uint8_t *data); #define GPS_TIMEOUT 2 #endif -static inline bool_t gps_has_been_good(void) +static inline bool gps_has_been_good(void) { - static bool_t gps_had_valid_fix = FALSE; + static bool gps_had_valid_fix = false; if (GpsFixValid()) { - gps_had_valid_fix = TRUE; + gps_had_valid_fix = true; } return gps_had_valid_fix; } diff --git a/sw/airborne/subsystems/gps/gps_furuno.c b/sw/airborne/subsystems/gps/gps_furuno.c index 7927baa5b8..bd3413946d 100644 --- a/sw/airborne/subsystems/gps/gps_furuno.c +++ b/sw/airborne/subsystems/gps/gps_furuno.c @@ -83,7 +83,7 @@ void nmea_configure(void) return; } } - gps_nmea.is_configured = TRUE; + gps_nmea.is_configured = true; } void nmea_parse_prop_init(void) diff --git a/sw/airborne/subsystems/gps/gps_mtk.c b/sw/airborne/subsystems/gps/gps_mtk.c index 7ff1b4415b..693b311f4b 100644 --- a/sw/airborne/subsystems/gps/gps_mtk.c +++ b/sw/airborne/subsystems/gps/gps_mtk.c @@ -100,7 +100,7 @@ struct GpsMtk gps_mtk; #define MTK_DIY_WAAS_ON "$PSRF151,1*3F\r\n" #define MTK_DIY_WAAS_OFF "$PSRF151,0*3E\r\n" -bool_t gps_configuring; +bool gps_configuring; static uint8_t gps_status_config; #endif @@ -111,12 +111,12 @@ void gps_mtk_msg(void); void gps_mtk_init(void) { gps_mtk.status = UNINIT; - gps_mtk.msg_available = FALSE; + gps_mtk.msg_available = false; gps_mtk.error_cnt = 0; gps_mtk.error_last = GPS_MTK_ERR_NONE; #ifdef GPS_CONFIGURE gps_status_config = 0; - gps_configuring = TRUE; + gps_configuring = true; #endif } @@ -157,7 +157,7 @@ void gps_mtk_msg(void) } AbiSendMsgGPS(GPS_MTK_ID, now_ts, &gps_mtk.state); } - gps_mtk.msg_available = FALSE; + gps_mtk.msg_available = false; } static void gps_mtk_time2itow(uint32_t gps_date, uint32_t gps_time, @@ -394,7 +394,7 @@ void gps_mtk_parse(uint8_t c) gps_mtk.error_last = GPS_MTK_ERR_CHECKSUM; goto error; } - gps_mtk.msg_available = TRUE; + gps_mtk.msg_available = true; goto restart; break; default: @@ -442,7 +442,7 @@ void gps_configure_uart(void) #ifdef USER_GPS_CONFIGURE #include USER_GPS_CONFIGURE #else -static bool_t user_gps_configure(bool_t cpt) +static bool user_gps_configure(bool cpt) { switch (cpt) { case 0: @@ -450,11 +450,11 @@ static bool_t user_gps_configure(bool_t cpt) break; case 1: MtkSend_CFG(MTK_DIY_OUTPUT_RATE); - return FALSE; + return false; default: break; } - return TRUE; /* Continue, except for the last case */ + return true; /* Continue, except for the last case */ } #endif // ! USER_GPS_CONFIGURE diff --git a/sw/airborne/subsystems/gps/gps_mtk.h b/sw/airborne/subsystems/gps/gps_mtk.h index 26e3673e63..b20f7b3da3 100644 --- a/sw/airborne/subsystems/gps/gps_mtk.h +++ b/sw/airborne/subsystems/gps/gps_mtk.h @@ -43,7 +43,7 @@ #define GPS_MTK_MAX_PAYLOAD 255 struct GpsMtk { - bool_t msg_available; + bool msg_available; uint8_t msg_buf[GPS_MTK_MAX_PAYLOAD] __attribute__((aligned)); uint8_t msg_id; uint8_t msg_class; @@ -71,7 +71,7 @@ extern void gps_mtk_register(void); #ifdef GPS_CONFIGURE extern void gps_configure(void); extern void gps_configure_uart(void); -extern bool_t gps_configuring; +extern bool gps_configuring; #define GpsConfigure() { \ if (gps_configuring) \ gps_configure(); \ diff --git a/sw/airborne/subsystems/gps/gps_nmea.c b/sw/airborne/subsystems/gps/gps_nmea.c index 105191d277..4d5de67ab2 100644 --- a/sw/airborne/subsystems/gps/gps_nmea.c +++ b/sw/airborne/subsystems/gps/gps_nmea.c @@ -66,10 +66,10 @@ static void nmea_parse_GSV(void); void gps_nmea_init(void) { gps_nmea.state.nb_channels = GPS_NMEA_NB_CHANNELS; - gps_nmea.is_configured = FALSE; - gps_nmea.msg_available = FALSE; - gps_nmea.pos_available = FALSE; - gps_nmea.have_gsv = FALSE; + gps_nmea.is_configured = false; + gps_nmea.msg_available = false; + gps_nmea.pos_available = false; + gps_nmea.have_gsv = false; gps_nmea.gps_nb_ovrn = 0; gps_nmea.msg_len = 0; nmea_parse_prop_init(); @@ -107,12 +107,12 @@ void nmea_gps_msg(void) } AbiSendMsgGPS(GPS_NMEA_ID, now_ts, &gps); } - gps_nmea.msg_available = FALSE; + gps_nmea.msg_available = false; } void WEAK nmea_configure(void) { - gps_nmea.is_configured = TRUE; + gps_nmea.is_configured = true; } void WEAK nmea_parse_prop_init(void) @@ -145,7 +145,7 @@ void nmea_parse_msg(void) nmea_parse_GSA(); } else if (gps_nmea.msg_len > 5 && !strncmp(&gps_nmea.msg_buf[2] , "GSV", 3)) { gps_nmea.msg_buf[gps_nmea.msg_len] = 0; - gps_nmea.have_gsv = TRUE; + gps_nmea.have_gsv = true; NMEA_PRINT("GSV: \"%s\" \n\r", gps_nmea.msg_buf); nmea_parse_GSV(); } else { @@ -189,7 +189,7 @@ void nmea_parse_char(uint8_t c) else { // TODO: check for CRC before setting msg as available gps_nmea.status = GOT_END; - gps_nmea.msg_available = TRUE; + gps_nmea.msg_available = true; } break; @@ -424,10 +424,10 @@ static void nmea_parse_GGA(void) // 0 = Invalid, 1 = Valid SPS, 2 = Valid DGPS, 3 = Valid PPS // check for good position fix if ((gps_nmea.msg_buf[i] != '0') && (gps_nmea.msg_buf[i] != ',')) { - gps_nmea.pos_available = TRUE; + gps_nmea.pos_available = true; NMEA_PRINT("p_GGA() - POS_AVAILABLE == TRUE\n\r"); } else { - gps_nmea.pos_available = FALSE; + gps_nmea.pos_available = false; NMEA_PRINT("p_GGA() - gps_pos_available == false\n\r"); } @@ -492,9 +492,9 @@ static void nmea_parse_GSV(void) // check what satellites this messages contains // GPGSV -> GPS // GLGSV -> GLONASS - bool_t is_glonass = FALSE; + bool is_glonass = false; if (!strncmp(&gps_nmea.msg_buf[0] , "GL", 2)) { - is_glonass = TRUE; + is_glonass = true; } // total sentences diff --git a/sw/airborne/subsystems/gps/gps_nmea.h b/sw/airborne/subsystems/gps/gps_nmea.h index 43d9abb261..d0815d2cb2 100644 --- a/sw/airborne/subsystems/gps/gps_nmea.h +++ b/sw/airborne/subsystems/gps/gps_nmea.h @@ -46,10 +46,10 @@ extern void gps_nmea_event(void); extern void gps_nmea_register(void); struct GpsNmea { - bool_t msg_available; - bool_t pos_available; - bool_t is_configured; ///< flag set to TRUE if configuration is finished - bool_t have_gsv; ///< flag set to TRUE if GPGSV message received + bool msg_available; + bool pos_available; + bool is_configured; ///< flag set to TRUE if configuration is finished + bool have_gsv; ///< flag set to TRUE if GPGSV message received uint8_t gps_nb_ovrn; ///< number if incomplete nmea-messages char msg_buf[NMEA_MAXLEN]; ///< buffer for storing one nmea-line int msg_len; diff --git a/sw/airborne/subsystems/gps/gps_sim_hitl.c b/sw/airborne/subsystems/gps/gps_sim_hitl.c index 451e65fc04..6ab0a24832 100644 --- a/sw/airborne/subsystems/gps/gps_sim_hitl.c +++ b/sw/airborne/subsystems/gps/gps_sim_hitl.c @@ -33,7 +33,7 @@ #include "guidance/guidance_v.h" #include "firmwares/rotorcraft/autopilot.h" -bool_t gps_available; +bool gps_available; uint32_t gps_sim_hitl_timer; void gps_sim_hitl_init(void) @@ -74,7 +74,7 @@ void gps_sim_hitl_event(void) gps.fix = GPS_FIX_3D; gps.last_3dfix_ticks = sys_time.nb_sec_rem; gps.last_3dfix_time = sys_time.nb_sec; - gps_available = TRUE; + gps_available = true; } else { struct Int32Vect2 zero_vector; diff --git a/sw/airborne/subsystems/gps/gps_sim_nps.c b/sw/airborne/subsystems/gps/gps_sim_nps.c index 7ca31f7a3a..b5bddfbb63 100644 --- a/sw/airborne/subsystems/gps/gps_sim_nps.c +++ b/sw/airborne/subsystems/gps/gps_sim_nps.c @@ -26,7 +26,7 @@ #include "nps_fdm.h" struct GpsState gps_nps; -bool_t gps_has_fix; +bool gps_has_fix; void gps_feed_value(void) { @@ -89,7 +89,7 @@ void gps_feed_value(void) void gps_nps_init(void) { - gps_has_fix = TRUE; + gps_has_fix = true; } /* diff --git a/sw/airborne/subsystems/gps/gps_sim_nps.h b/sw/airborne/subsystems/gps/gps_sim_nps.h index f935277c99..ab5fe8ab3b 100644 --- a/sw/airborne/subsystems/gps/gps_sim_nps.h +++ b/sw/airborne/subsystems/gps/gps_sim_nps.h @@ -7,7 +7,7 @@ #define PRIMARY_GPS gps_nps #endif -extern bool_t gps_has_fix; +extern bool gps_has_fix; extern void gps_feed_value(); diff --git a/sw/airborne/subsystems/gps/gps_sirf.c b/sw/airborne/subsystems/gps/gps_sirf.c index c3b9da13e0..ca8625b45f 100644 --- a/sw/airborne/subsystems/gps/gps_sirf.c +++ b/sw/airborne/subsystems/gps/gps_sirf.c @@ -121,8 +121,8 @@ void sirf_parse_41(void); void gps_sirf_init(void) { - gps_sirf.msg_available = FALSE; - gps_sirf.pos_available = FALSE; + gps_sirf.msg_available = false; + gps_sirf.pos_available = false; gps_sirf.msg_len = 0; gps_sirf.read_state = 0; } @@ -141,7 +141,7 @@ void gps_sirf_msg(void) } AbiSendMsgGPS(GPS_SIRF_ID, now_ts, &gps); } - gps_sirf.msg_available = FALSE; + gps_sirf.msg_available = false; } void sirf_parse_char(uint8_t c) @@ -175,7 +175,7 @@ void sirf_parse_char(uint8_t c) if (c == 0xB3) { gps_sirf.msg_buf[gps_sirf.msg_len] = c; gps_sirf.msg_len++; - gps_sirf.msg_available = TRUE; + gps_sirf.msg_available = true; } else { goto restart; } @@ -228,7 +228,7 @@ void sirf_parse_41(void) //Let gps_sirf know we have a position update - gps_sirf.pos_available = TRUE; + gps_sirf.pos_available = true; } void sirf_parse_2(void) @@ -262,7 +262,7 @@ void sirf_parse_2(void) void sirf_parse_msg(void) { //Set position available to false and check if it is a valid message - gps_sirf.pos_available = FALSE; + gps_sirf.pos_available = false; if (gps_sirf.msg_len < 8) { return; } diff --git a/sw/airborne/subsystems/gps/gps_sirf.h b/sw/airborne/subsystems/gps/gps_sirf.h index ae3f9d0b1f..d57a910a15 100644 --- a/sw/airborne/subsystems/gps/gps_sirf.h +++ b/sw/airborne/subsystems/gps/gps_sirf.h @@ -46,8 +46,8 @@ #define GOT_B0 3 struct GpsSirf { - bool_t msg_available; - bool_t pos_available; + bool msg_available; + bool pos_available; char msg_buf[SIRF_MAXLEN]; ///< buffer for storing one nmea-line int msg_len; int read_state; diff --git a/sw/airborne/subsystems/gps/gps_skytraq.c b/sw/airborne/subsystems/gps/gps_skytraq.c index 555de3837e..ff59378570 100644 --- a/sw/airborne/subsystems/gps/gps_skytraq.c +++ b/sw/airborne/subsystems/gps/gps_skytraq.c @@ -109,7 +109,7 @@ void gps_skytraq_msg(void) } AbiSendMsgGPS(GPS_SKYTRAQ_ID, now_ts, &gps); } - gps_skytraq.msg_available = FALSE; + gps_skytraq.msg_available = false; } void gps_skytraq_event(void) @@ -256,7 +256,7 @@ void gps_skytraq_parse(uint8_t c) gps_skytraq.status = GOT_SYNC3; break; case GOT_SYNC3: - gps_skytraq.msg_available = TRUE; + gps_skytraq.msg_available = true; goto restart; default: gps_skytraq.error_last = GPS_SKYTRAQ_ERR_UNEXPECTED; @@ -274,18 +274,18 @@ static int distance_too_great(struct EcefCoor_i *ecef_ref, struct EcefCoor_i *ec { int32_t xdiff = abs(ecef_ref->x - ecef_pos->x); if (xdiff > MAX_DISTANCE) { - return TRUE; + return true; } int32_t ydiff = abs(ecef_ref->y - ecef_pos->y); if (ydiff > MAX_DISTANCE) { - return TRUE; + return true; } int32_t zdiff = abs(ecef_ref->z - ecef_pos->z); if (zdiff > MAX_DISTANCE) { - return TRUE; + return true; } - return FALSE; + return false; } /* diff --git a/sw/airborne/subsystems/gps/gps_skytraq.h b/sw/airborne/subsystems/gps/gps_skytraq.h index f8cc166f6e..45ff59c233 100644 --- a/sw/airborne/subsystems/gps/gps_skytraq.h +++ b/sw/airborne/subsystems/gps/gps_skytraq.h @@ -43,7 +43,7 @@ enum GpsSkytraqError { #define GPS_SKYTRAQ_MAX_PAYLOAD 255 struct GpsSkytraq { uint8_t msg_buf[GPS_SKYTRAQ_MAX_PAYLOAD]; - bool_t msg_available; + bool msg_available; uint8_t msg_id; uint8_t status; diff --git a/sw/airborne/subsystems/gps/gps_ubx.c b/sw/airborne/subsystems/gps/gps_ubx.c index 6914de5b49..57462f693e 100644 --- a/sw/airborne/subsystems/gps/gps_ubx.c +++ b/sw/airborne/subsystems/gps/gps_ubx.c @@ -60,7 +60,7 @@ struct GpsTimeSync gps_ubx_time_sync; void gps_ubx_init(void) { gps_ubx.status = UNINIT; - gps_ubx.msg_available = FALSE; + gps_ubx.msg_available = false; gps_ubx.error_cnt = 0; gps_ubx.error_last = GPS_UBX_ERR_NONE; @@ -263,7 +263,7 @@ void gps_ubx_parse(uint8_t c) gps_ubx.error_last = GPS_UBX_ERR_CHECKSUM; goto error; } - gps_ubx.msg_available = TRUE; + gps_ubx.msg_available = true; goto restart; break; default: @@ -344,7 +344,7 @@ void gps_ubx_msg(void) } AbiSendMsgGPS(GPS_UBX_ID, now_ts, &gps_ubx.state); } - gps_ubx.msg_available = FALSE; + gps_ubx.msg_available = false; } void gps_ubx_register(void) diff --git a/sw/airborne/subsystems/gps/gps_ubx.h b/sw/airborne/subsystems/gps/gps_ubx.h index f59c377364..09bbfb381b 100644 --- a/sw/airborne/subsystems/gps/gps_ubx.h +++ b/sw/airborne/subsystems/gps/gps_ubx.h @@ -33,6 +33,10 @@ #warning "Please use gps_ubx_ucenter.xml module instead of GPS_CONFIGURE" #endif +#ifdef GPS_I2C +#include "modules/gps/gps_ubx_i2c.h" +#endif + #include "mcu_periph/uart.h" #ifndef PRIMARY_GPS @@ -47,7 +51,7 @@ extern void gps_ubx_register(void); #define GPS_UBX_MAX_PAYLOAD 255 struct GpsUbx { - bool_t msg_available; + bool msg_available; uint8_t msg_buf[GPS_UBX_MAX_PAYLOAD] __attribute__((aligned)); uint8_t msg_id; uint8_t msg_class; diff --git a/sw/airborne/subsystems/imu.c b/sw/airborne/subsystems/imu.c index 61275b96a6..5f33bcb3e9 100644 --- a/sw/airborne/subsystems/imu.c +++ b/sw/airborne/subsystems/imu.c @@ -192,7 +192,7 @@ void imu_SetBodyToImuCurrent(float set) AbiSendMsgBODY_TO_IMU_QUAT(1, orientationGetQuat_f(&imu.body_to_imu)); } else { // indicate that we couldn't set to current roll/pitch - imu.b2i_set_current = FALSE; + imu.b2i_set_current = false; } } else { // reset to BODY_TO_IMU as defined in airframe file diff --git a/sw/airborne/subsystems/imu.h b/sw/airborne/subsystems/imu.h index fcea81e218..1a7f9d0506 100644 --- a/sw/airborne/subsystems/imu.h +++ b/sw/airborne/subsystems/imu.h @@ -55,7 +55,7 @@ struct Imu { /** flag for adjusting body_to_imu via settings. * if FALSE, reset to airframe values, if TRUE set current roll/pitch */ - bool_t b2i_set_current; + bool b2i_set_current; }; /** global IMU state */ diff --git a/sw/airborne/subsystems/imu/imu_aspirin.c b/sw/airborne/subsystems/imu/imu_aspirin.c index 1e228c446a..60a659553e 100644 --- a/sw/airborne/subsystems/imu/imu_aspirin.c +++ b/sw/airborne/subsystems/imu/imu_aspirin.c @@ -67,16 +67,16 @@ struct ImuAspirin imu_aspirin; void imu_impl_init(void) { - imu_aspirin.accel_valid = FALSE; - imu_aspirin.gyro_valid = FALSE; - imu_aspirin.mag_valid = FALSE; + imu_aspirin.accel_valid = false; + imu_aspirin.gyro_valid = false; + imu_aspirin.mag_valid = false; /* Set accel configuration */ adxl345_spi_init(&imu_aspirin.acc_adxl, &(ASPIRIN_SPI_DEV), ASPIRIN_SPI_SLAVE_IDX); // set the data rate imu_aspirin.acc_adxl.config.rate = ASPIRIN_ACCEL_RATE; /// @todo drdy int handling for adxl345 - //imu_aspirin.acc_adxl.config.drdy_int_enable = TRUE; + //imu_aspirin.acc_adxl.config.drdy_int_enable = true; /* Gyro configuration and initalization */ itg3200_init(&imu_aspirin.gyro_itg, &(ASPIRIN_I2C_DEV), ITG3200_ADDR); @@ -122,16 +122,16 @@ void imu_aspirin_event(void) adxl345_spi_event(&imu_aspirin.acc_adxl); if (imu_aspirin.acc_adxl.data_available) { VECT3_COPY(imu.accel_unscaled, imu_aspirin.acc_adxl.data.vect); - imu_aspirin.acc_adxl.data_available = FALSE; - imu_aspirin.accel_valid = TRUE; + imu_aspirin.acc_adxl.data_available = false; + imu_aspirin.accel_valid = true; } /* If the itg3200 I2C transaction has succeeded: convert the data */ itg3200_event(&imu_aspirin.gyro_itg); if (imu_aspirin.gyro_itg.data_available) { RATES_COPY(imu.gyro_unscaled, imu_aspirin.gyro_itg.data.rates); - imu_aspirin.gyro_itg.data_available = FALSE; - imu_aspirin.gyro_valid = TRUE; + imu_aspirin.gyro_itg.data_available = false; + imu_aspirin.gyro_valid = true; } /* HMC58XX event task */ @@ -144,22 +144,22 @@ void imu_aspirin_event(void) imu.mag_unscaled.y = -imu_aspirin.mag_hmc.data.vect.x; imu.mag_unscaled.z = imu_aspirin.mag_hmc.data.vect.z; #endif - imu_aspirin.mag_hmc.data_available = FALSE; - imu_aspirin.mag_valid = TRUE; + imu_aspirin.mag_hmc.data_available = false; + imu_aspirin.mag_valid = true; } if (imu_aspirin.gyro_valid) { - imu_aspirin.gyro_valid = FALSE; + imu_aspirin.gyro_valid = false; imu_scale_gyro(&imu); AbiSendMsgIMU_GYRO_INT32(IMU_ASPIRIN_ID, now_ts, &imu.gyro); } if (imu_aspirin.accel_valid) { - imu_aspirin.accel_valid = FALSE; + imu_aspirin.accel_valid = false; imu_scale_accel(&imu); AbiSendMsgIMU_ACCEL_INT32(IMU_ASPIRIN_ID, now_ts, &imu.accel); } if (imu_aspirin.mag_valid) { - imu_aspirin.mag_valid = FALSE; + imu_aspirin.mag_valid = false; imu_scale_mag(&imu); AbiSendMsgIMU_MAG_INT32(IMU_ASPIRIN_ID, now_ts, &imu.mag); } diff --git a/sw/airborne/subsystems/imu/imu_aspirin_2_spi.c b/sw/airborne/subsystems/imu/imu_aspirin_2_spi.c index a248891e9d..16435fad1c 100644 --- a/sw/airborne/subsystems/imu/imu_aspirin_2_spi.c +++ b/sw/airborne/subsystems/imu/imu_aspirin_2_spi.c @@ -101,7 +101,7 @@ struct ImuAspirin2Spi imu_aspirin2; void mpu_wait_slave4_ready(void); void mpu_wait_slave4_ready_cb(struct spi_transaction *t); -bool_t imu_aspirin2_configure_mag_slave(Mpu60x0ConfigSet mpu_set, void *mpu); +bool imu_aspirin2_configure_mag_slave(Mpu60x0ConfigSet mpu_set, void *mpu); void imu_impl_init(void) { @@ -146,7 +146,7 @@ void imu_impl_init(void) imu_aspirin2.wait_slave4_trans.output_buf = &(imu_aspirin2.wait_slave4_tx_buf[0]); imu_aspirin2.wait_slave4_trans.status = SPITransDone; - imu_aspirin2.slave4_ready = FALSE; + imu_aspirin2.slave4_ready = false; #endif } @@ -233,7 +233,7 @@ void imu_aspirin2_event(void) #endif #endif - imu_aspirin2.mpu.data_available = FALSE; + imu_aspirin2.mpu.data_available = false; imu_scale_gyro(&imu); imu_scale_accel(&imu); @@ -256,12 +256,12 @@ static inline void mpu_set_and_wait(Mpu60x0ConfigSet mpu_set, void *mpu, uint8_t /** function to configure hmc5883 mag * @return TRUE if mag configuration finished */ -bool_t imu_aspirin2_configure_mag_slave(Mpu60x0ConfigSet mpu_set, void *mpu) +bool imu_aspirin2_configure_mag_slave(Mpu60x0ConfigSet mpu_set, void *mpu) { // wait before starting the configuration of the HMC58xx mag // doing to early may void the mode configuration if (get_sys_time_float() < ASPIRIN_2_MAG_STARTUP_DELAY) { - return FALSE; + return false; } mpu_set_and_wait(mpu_set, mpu, MPU60X0_REG_I2C_SLV4_ADDR, (HMC58XX_ADDR >> 1)); @@ -290,7 +290,7 @@ bool_t imu_aspirin2_configure_mag_slave(Mpu60x0ConfigSet mpu_set, void *mpu) (1 << 7) | // Slave 0 enable (6 << 0)); // Read 6 bytes - return TRUE; + return true; } void mpu_wait_slave4_ready(void) @@ -306,9 +306,9 @@ void mpu_wait_slave4_ready(void) void mpu_wait_slave4_ready_cb(struct spi_transaction *t) { if (bit_is_set(t->input_buf[1], MPU60X0_I2C_SLV4_DONE)) { - imu_aspirin2.slave4_ready = TRUE; + imu_aspirin2.slave4_ready = true; } else { - imu_aspirin2.slave4_ready = FALSE; + imu_aspirin2.slave4_ready = false; } t->status = SPITransDone; } diff --git a/sw/airborne/subsystems/imu/imu_aspirin_2_spi.h b/sw/airborne/subsystems/imu/imu_aspirin_2_spi.h index a51178da42..98da9f3564 100644 --- a/sw/airborne/subsystems/imu/imu_aspirin_2_spi.h +++ b/sw/airborne/subsystems/imu/imu_aspirin_2_spi.h @@ -41,7 +41,7 @@ struct ImuAspirin2Spi { struct spi_transaction wait_slave4_trans; volatile uint8_t wait_slave4_tx_buf[1]; volatile uint8_t wait_slave4_rx_buf[2]; - volatile bool_t slave4_ready; + volatile bool slave4_ready; }; extern struct ImuAspirin2Spi imu_aspirin2; diff --git a/sw/airborne/subsystems/imu/imu_aspirin_i2c.c b/sw/airborne/subsystems/imu/imu_aspirin_i2c.c index 4b6fbaddb8..a5d7fb1bbd 100644 --- a/sw/airborne/subsystems/imu/imu_aspirin_i2c.c +++ b/sw/airborne/subsystems/imu/imu_aspirin_i2c.c @@ -87,7 +87,7 @@ void imu_impl_init(void) // set the data rate imu_aspirin.acc_adxl.config.rate = ASPIRIN_ACCEL_RATE; /// @todo drdy int handling for adxl345 - //imu_aspirin.acc_adxl.config.drdy_int_enable = TRUE; + //imu_aspirin.acc_adxl.config.drdy_int_enable = true; // With CS tied high to VDD I/O, the ADXL345 is in I2C mode #ifdef ASPIRIN_I2C_CS_PORT @@ -133,7 +133,7 @@ void imu_aspirin_i2c_event(void) adxl345_i2c_event(&imu_aspirin.acc_adxl); if (imu_aspirin.acc_adxl.data_available) { VECT3_COPY(imu.accel_unscaled, imu_aspirin.acc_adxl.data.vect); - imu_aspirin.acc_adxl.data_available = FALSE; + imu_aspirin.acc_adxl.data_available = false; imu_scale_accel(&imu); AbiSendMsgIMU_ACCEL_INT32(IMU_ASPIRIN_ID, now_ts, &imu.accel); } @@ -142,7 +142,7 @@ void imu_aspirin_i2c_event(void) itg3200_event(&imu_aspirin.gyro_itg); if (imu_aspirin.gyro_itg.data_available) { RATES_COPY(imu.gyro_unscaled, imu_aspirin.gyro_itg.data.rates); - imu_aspirin.gyro_itg.data_available = FALSE; + imu_aspirin.gyro_itg.data_available = false; imu_scale_gyro(&imu); AbiSendMsgIMU_GYRO_INT32(IMU_ASPIRIN_ID, now_ts, &imu.gyro); } @@ -157,7 +157,7 @@ void imu_aspirin_i2c_event(void) imu.mag_unscaled.y = -imu_aspirin.mag_hmc.data.vect.x; imu.mag_unscaled.z = imu_aspirin.mag_hmc.data.vect.z; #endif - imu_aspirin.mag_hmc.data_available = FALSE; + imu_aspirin.mag_hmc.data_available = false; imu_scale_mag(&imu); AbiSendMsgIMU_MAG_INT32(IMU_ASPIRIN_ID, now_ts, &imu.mag); } diff --git a/sw/airborne/subsystems/imu/imu_b2.c b/sw/airborne/subsystems/imu/imu_b2.c index 21ca2d1d43..0a556b47f1 100644 --- a/sw/airborne/subsystems/imu/imu_b2.c +++ b/sw/airborne/subsystems/imu/imu_b2.c @@ -128,7 +128,7 @@ static inline void ImuMagEvent(void) imu.mag_unscaled.z = hmc5843.data.value[IMU_MAG_Z_CHAN]; imu_scale_mag(&imu); AbiSendMsgIMU_MAG_INT32(IMU_B2_ID, get_sys_time_usec(), &imu.mag); - hmc5843.data_available = FALSE; + hmc5843.data_available = false; } } #elif defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_HMC58XX @@ -141,7 +141,7 @@ static inline void ImuMagEvent(void) imu.mag_unscaled.z = imu_b2.mag_hmc.data.value[IMU_MAG_Z_CHAN]; imu_scale_mag(&imu); AbiSendMsgIMU_MAG_INT32(IMU_B2_ID, get_sys_time_usec(), &imu.mag); - imu_b2.mag_hmc.data_available = FALSE; + imu_b2.mag_hmc.data_available = false; } } #else diff --git a/sw/airborne/subsystems/imu/imu_bebop.c b/sw/airborne/subsystems/imu/imu_bebop.c index 8bbe51bfdc..3c8ac8e37f 100644 --- a/sw/airborne/subsystems/imu/imu_bebop.c +++ b/sw/airborne/subsystems/imu/imu_bebop.c @@ -120,7 +120,7 @@ void imu_bebop_event(void) VECT3_ASSIGN(imu.accel_unscaled, imu_bebop.mpu.data_accel.vect.x, -imu_bebop.mpu.data_accel.vect.y, -imu_bebop.mpu.data_accel.vect.z); - imu_bebop.mpu.data_available = FALSE; + imu_bebop.mpu.data_available = false; imu_scale_gyro(&imu); imu_scale_accel(&imu); AbiSendMsgIMU_GYRO_INT32(IMU_BOARD_ID, now_ts, &imu.gyro); @@ -138,7 +138,7 @@ void imu_bebop_event(void) VECT3_ASSIGN(imu.mag_unscaled, -imu_bebop.ak.data.vect.y, imu_bebop.ak.data.vect.x, imu_bebop.ak.data.vect.z); #endif - imu_bebop.ak.data_available = FALSE; + imu_bebop.ak.data_available = false; imu_scale_mag(&imu); AbiSendMsgIMU_MAG_INT32(IMU_BOARD_ID, now_ts, &imu.mag); } diff --git a/sw/airborne/subsystems/imu/imu_crista.c b/sw/airborne/subsystems/imu/imu_crista.c index e6979d7a0f..7e8215939c 100644 --- a/sw/airborne/subsystems/imu/imu_crista.c +++ b/sw/airborne/subsystems/imu/imu_crista.c @@ -22,13 +22,13 @@ #include "subsystems/imu.h" #include "subsystems/abi.h" -volatile bool_t ADS8344_available; +volatile bool ADS8344_available; uint16_t ADS8344_values[ADS8344_NB_CHANNELS]; void imu_impl_init(void) { - ADS8344_available = FALSE; + ADS8344_available = false; imu_crista_arch_init(); @@ -79,7 +79,7 @@ static inline void ImuMagEvent(void) imu.mag_unscaled.x = hmc5843.data.value[IMU_MAG_X_CHAN]; imu.mag_unscaled.y = hmc5843.data.value[IMU_MAG_Y_CHAN]; imu.mag_unscaled.z = hmc5843.data.value[IMU_MAG_Z_CHAN]; - hmc5843.data_available = FALSE; + hmc5843.data_available = false; imu_scale_mag(&imu); AbiSendMsgIMU_MAG_INT32(IMU_CRISTA_ID, now_ts, &imu.mag); } @@ -91,7 +91,7 @@ static inline void ImuMagEvent(void) void imu_christa_event(void) { if (ADS8344_available) { - ADS8344_available = FALSE; + ADS8344_available = false; imu.gyro_unscaled.p = ADS8344_values[IMU_GYRO_P_CHAN]; imu.gyro_unscaled.q = ADS8344_values[IMU_GYRO_Q_CHAN]; imu.gyro_unscaled.r = ADS8344_values[IMU_GYRO_R_CHAN]; diff --git a/sw/airborne/subsystems/imu/imu_crista.h b/sw/airborne/subsystems/imu/imu_crista.h index 326230c0c1..1f51615115 100644 --- a/sw/airborne/subsystems/imu/imu_crista.h +++ b/sw/airborne/subsystems/imu/imu_crista.h @@ -27,7 +27,7 @@ #define ADS8344_NB_CHANNELS 8 extern uint16_t ADS8344_values[ADS8344_NB_CHANNELS]; -extern volatile bool_t ADS8344_available; +extern volatile bool ADS8344_available; /* underlying architecture */ #include "subsystems/imu/imu_crista_arch.h" diff --git a/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.c b/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.c index 3f495d3f74..f9cfe9fb9e 100644 --- a/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.c +++ b/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.c @@ -100,7 +100,7 @@ void imu_impl_init(void) imu_drotek2.mpu.config.slaves[0].configure = &imu_drotek2_configure_mag_slave; // use hmc mag via passthrough - imu_drotek2.mpu.config.i2c_bypass = TRUE; + imu_drotek2.mpu.config.i2c_bypass = true; } void imu_periodic(void) @@ -136,7 +136,7 @@ void imu_drotek2_event(void) VECT3_COPY(imu.accel_unscaled, imu_drotek2.mpu.data_accel.vect); #endif - imu_drotek2.mpu.data_available = FALSE; + imu_drotek2.mpu.data_available = false; imu_scale_gyro(&imu); imu_scale_accel(&imu); AbiSendMsgIMU_GYRO_INT32(IMU_DROTEK_ID, now_ts, &imu.gyro); @@ -153,7 +153,7 @@ void imu_drotek2_event(void) #else VECT3_COPY(imu.mag_unscaled, imu_drotek2.hmc.data.vect); #endif - imu_drotek2.hmc.data_available = FALSE; + imu_drotek2.hmc.data_available = false; imu_scale_mag(&imu); AbiSendMsgIMU_MAG_INT32(IMU_DROTEK_ID, now_ts, &imu.mag); } @@ -162,13 +162,13 @@ void imu_drotek2_event(void) /** callback function to configure hmc5883 mag * @return TRUE if mag configuration finished */ -bool_t imu_drotek2_configure_mag_slave(Mpu60x0ConfigSet mpu_set __attribute__((unused)), +bool imu_drotek2_configure_mag_slave(Mpu60x0ConfigSet mpu_set __attribute__((unused)), void *mpu __attribute__((unused))) { hmc58xx_start_configure(&imu_drotek2.hmc); if (imu_drotek2.hmc.initialized) { - return TRUE; + return true; } else { - return FALSE; + return false; } } diff --git a/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.h b/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.h index bc19091d4e..3bad6832ab 100644 --- a/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.h +++ b/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.h @@ -81,7 +81,7 @@ struct ImuDrotek2 { extern struct ImuDrotek2 imu_drotek2; extern void imu_drotek2_event(void); -extern bool_t imu_drotek2_configure_mag_slave(Mpu60x0ConfigSet mpu_set, void *mpu); +extern bool imu_drotek2_configure_mag_slave(Mpu60x0ConfigSet mpu_set, void *mpu); #define ImuEvent imu_drotek2_event diff --git a/sw/airborne/subsystems/imu/imu_gl1.c b/sw/airborne/subsystems/imu/imu_gl1.c index 476beed67b..0fa158a4e1 100644 --- a/sw/airborne/subsystems/imu/imu_gl1.c +++ b/sw/airborne/subsystems/imu/imu_gl1.c @@ -84,7 +84,7 @@ void imu_impl_init(void) // set the data rate imu_gl1.acc_adxl.config.rate = GL1_ACCEL_RATE; /// @todo drdy int handling for adxl345 - //imu_aspirin.acc_adxl.config.drdy_int_enable = TRUE; + //imu_aspirin.acc_adxl.config.drdy_int_enable = true; /* Gyro configuration and initalization */ @@ -125,7 +125,7 @@ void imu_gl1_i2c_event(void) imu.accel_unscaled.x = imu_gl1.acc_adxl.data.vect.y; imu.accel_unscaled.y = imu_gl1.acc_adxl.data.vect.x; imu.accel_unscaled.z = -imu_gl1.acc_adxl.data.vect.z; - imu_gl1.acc_adxl.data_available = FALSE; + imu_gl1.acc_adxl.data_available = false; imu_scale_accel(&imu); AbiSendMsgIMU_ACCEL_INT32(IMU_GL1_ID, now_ts, &imu.accel); } @@ -137,7 +137,7 @@ void imu_gl1_i2c_event(void) imu.gyro_unscaled.p = imu_gl1.gyro_l3g.data.rates.q; imu.gyro_unscaled.q = imu_gl1.gyro_l3g.data.rates.p; imu.gyro_unscaled.r = -imu_gl1.gyro_l3g.data.rates.r; - imu_gl1.gyro_l3g.data_available = FALSE; + imu_gl1.gyro_l3g.data_available = false; imu_scale_gyro(&imu); AbiSendMsgIMU_GYRO_INT32(IMU_GL1_ID, now_ts, &imu.gyro); } @@ -149,7 +149,7 @@ void imu_gl1_i2c_event(void) imu.mag_unscaled.y = imu_gl1.mag_hmc.data.vect.x; imu.mag_unscaled.x = imu_gl1.mag_hmc.data.vect.y; imu.mag_unscaled.z = -imu_gl1.mag_hmc.data.vect.z; - imu_gl1.mag_hmc.data_available = FALSE; + imu_gl1.mag_hmc.data_available = false; imu_scale_mag(&imu); AbiSendMsgIMU_MAG_INT32(IMU_GL1_ID, now_ts, &imu.mag); } diff --git a/sw/airborne/subsystems/imu/imu_mpu6000.c b/sw/airborne/subsystems/imu/imu_mpu6000.c index f1d8e57cb6..baafbde5e0 100644 --- a/sw/airborne/subsystems/imu/imu_mpu6000.c +++ b/sw/airborne/subsystems/imu/imu_mpu6000.c @@ -92,7 +92,7 @@ void imu_mpu_spi_event(void) uint32_t now_ts = get_sys_time_usec(); RATES_COPY(imu.gyro_unscaled, imu_mpu_spi.mpu.data_rates.rates); VECT3_COPY(imu.accel_unscaled, imu_mpu_spi.mpu.data_accel.vect); - imu_mpu_spi.mpu.data_available = FALSE; + imu_mpu_spi.mpu.data_available = false; imu_scale_gyro(&imu); imu_scale_accel(&imu); AbiSendMsgIMU_GYRO_INT32(IMU_MPU6000_ID, now_ts, &imu.gyro); diff --git a/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.c b/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.c index c14f92a61b..7b8924fe21 100644 --- a/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.c +++ b/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.c @@ -104,7 +104,7 @@ void imu_mpu_hmc_event(void) if (imu_mpu_hmc.mpu.data_available) { RATES_COPY(imu.gyro_unscaled, imu_mpu_hmc.mpu.data_rates.rates); VECT3_COPY(imu.accel_unscaled, imu_mpu_hmc.mpu.data_accel.vect); - imu_mpu_hmc.mpu.data_available = FALSE; + imu_mpu_hmc.mpu.data_available = false; imu_scale_gyro(&imu); imu_scale_accel(&imu); AbiSendMsgIMU_GYRO_INT32(IMU_MPU6000_HMC_ID, now_ts, &imu.gyro); @@ -118,7 +118,7 @@ void imu_mpu_hmc_event(void) imu.mag_unscaled.x = imu_mpu_hmc.hmc.data.vect.y; imu.mag_unscaled.y = -imu_mpu_hmc.hmc.data.vect.x; imu.mag_unscaled.z = imu_mpu_hmc.hmc.data.vect.z; - imu_mpu_hmc.hmc.data_available = FALSE; + imu_mpu_hmc.hmc.data_available = false; imu_scale_mag(&imu); AbiSendMsgIMU_MAG_INT32(IMU_MPU6000_HMC_ID, now_ts, &imu.mag); } diff --git a/sw/airborne/subsystems/imu/imu_mpu60x0_i2c.c b/sw/airborne/subsystems/imu/imu_mpu60x0_i2c.c index ad88ed290c..93a5f5a02c 100644 --- a/sw/airborne/subsystems/imu/imu_mpu60x0_i2c.c +++ b/sw/airborne/subsystems/imu/imu_mpu60x0_i2c.c @@ -93,7 +93,7 @@ void imu_mpu_i2c_event(void) if (imu_mpu_i2c.mpu.data_available) { RATES_COPY(imu.gyro_unscaled, imu_mpu_i2c.mpu.data_rates.rates); VECT3_COPY(imu.accel_unscaled, imu_mpu_i2c.mpu.data_accel.vect); - imu_mpu_i2c.mpu.data_available = FALSE; + imu_mpu_i2c.mpu.data_available = false; imu_scale_gyro(&imu); imu_scale_accel(&imu); AbiSendMsgIMU_GYRO_INT32(IMU_MPU60X0_ID, now_ts, &imu.gyro); diff --git a/sw/airborne/subsystems/imu/imu_mpu9250_i2c.c b/sw/airborne/subsystems/imu/imu_mpu9250_i2c.c index 661400d964..0beadef58f 100644 --- a/sw/airborne/subsystems/imu/imu_mpu9250_i2c.c +++ b/sw/airborne/subsystems/imu/imu_mpu9250_i2c.c @@ -133,7 +133,7 @@ void imu_mpu9250_event(void) VECT3_COPY(imu.accel_unscaled, accel); RATES_COPY(imu.gyro_unscaled, rates); - imu_mpu9250.mpu.data_available = FALSE; + imu_mpu9250.mpu.data_available = false; imu_scale_gyro(&imu); imu_scale_accel(&imu); @@ -149,7 +149,7 @@ void imu_mpu9250_event(void) -(int32_t)(imu_mpu9250.mpu.akm.data.value[IMU_MPU9250_CHAN_Z]) }; VECT3_COPY(imu.mag_unscaled, mag); - imu_mpu9250.mpu.akm.data_available = FALSE; + imu_mpu9250.mpu.akm.data_available = false; imu_scale_mag(&imu); AbiSendMsgIMU_MAG_INT32(IMU_MPU9250_ID, now_ts, &imu.mag); } diff --git a/sw/airborne/subsystems/imu/imu_mpu9250_spi.c b/sw/airborne/subsystems/imu/imu_mpu9250_spi.c index c4c24e0205..612302a288 100644 --- a/sw/airborne/subsystems/imu/imu_mpu9250_spi.c +++ b/sw/airborne/subsystems/imu/imu_mpu9250_spi.c @@ -116,7 +116,7 @@ struct ImuMpu9250 imu_mpu9250; void mpu_wait_slave4_ready(void); void mpu_wait_slave4_ready_cb(struct spi_transaction *t); -bool_t imu_mpu9250_configure_mag_slave(Mpu9250ConfigSet mpu_set, void *mpu); +bool imu_mpu9250_configure_mag_slave(Mpu9250ConfigSet mpu_set, void *mpu); void imu_impl_init(void) { @@ -162,7 +162,7 @@ void imu_impl_init(void) imu_mpu9250.wait_slave4_trans.output_buf = &(imu_mpu9250.wait_slave4_tx_buf[0]); imu_mpu9250.wait_slave4_trans.status = SPITransDone; - imu_mpu9250.slave4_ready = FALSE; + imu_mpu9250.slave4_ready = false; } void imu_periodic(void) @@ -207,7 +207,7 @@ void imu_mpu9250_event(void) } #endif - imu_mpu9250.mpu.data_available = FALSE; + imu_mpu9250.mpu.data_available = false; imu_scale_gyro(&imu); imu_scale_accel(&imu); @@ -227,12 +227,12 @@ static inline void mpu_set_and_wait(Mpu9250ConfigSet mpu_set, void *mpu, uint8_t /** function to configure akm8963 mag * @return TRUE if mag configuration finished */ -bool_t imu_mpu9250_configure_mag_slave(Mpu9250ConfigSet mpu_set, void *mpu) +bool imu_mpu9250_configure_mag_slave(Mpu9250ConfigSet mpu_set, void *mpu) { // wait before starting the configuration of the mag // doing to early may void the mode configuration if (get_sys_time_float() < IMU_MPU9250_MAG_STARTUP_DELAY) { - return FALSE; + return false; } //config AK8963 soft reset @@ -259,7 +259,7 @@ bool_t imu_mpu9250_configure_mag_slave(Mpu9250ConfigSet mpu_set, void *mpu) (1 << 7) | // Slave 0 enable (7 << 0)); // Read 7 bytes (mag x,y,z + status) - return TRUE; + return true; } void mpu_wait_slave4_ready(void) @@ -275,9 +275,9 @@ void mpu_wait_slave4_ready(void) void mpu_wait_slave4_ready_cb(struct spi_transaction *t) { if (bit_is_set(t->input_buf[1], MPU9250_I2C_SLV4_DONE)) { - imu_mpu9250.slave4_ready = TRUE; + imu_mpu9250.slave4_ready = true; } else { - imu_mpu9250.slave4_ready = FALSE; + imu_mpu9250.slave4_ready = false; } t->status = SPITransDone; } diff --git a/sw/airborne/subsystems/imu/imu_mpu9250_spi.h b/sw/airborne/subsystems/imu/imu_mpu9250_spi.h index 50a25ae94f..4dc462db96 100644 --- a/sw/airborne/subsystems/imu/imu_mpu9250_spi.h +++ b/sw/airborne/subsystems/imu/imu_mpu9250_spi.h @@ -77,7 +77,7 @@ struct ImuMpu9250 { struct spi_transaction wait_slave4_trans; volatile uint8_t wait_slave4_tx_buf[1]; volatile uint8_t wait_slave4_rx_buf[2]; - volatile bool_t slave4_ready; + volatile bool slave4_ready; }; extern struct ImuMpu9250 imu_mpu9250; diff --git a/sw/airborne/subsystems/imu/imu_navstik.c b/sw/airborne/subsystems/imu/imu_navstik.c index 7a1001b5ef..4f172ce3ba 100644 --- a/sw/airborne/subsystems/imu/imu_navstik.c +++ b/sw/airborne/subsystems/imu/imu_navstik.c @@ -118,7 +118,7 @@ void imu_navstik_event(void) RATES_COPY(imu.gyro_unscaled, imu_navstik.mpu.data_rates.rates); VECT3_COPY(imu.accel_unscaled, imu_navstik.mpu.data_accel.vect); - imu_navstik.mpu.data_available = FALSE; + imu_navstik.mpu.data_available = false; imu_scale_gyro(&imu); imu_scale_accel(&imu); AbiSendMsgIMU_GYRO_INT32(IMU_BOARD_ID, now_ts, &imu.gyro); @@ -131,7 +131,7 @@ void imu_navstik_event(void) imu.mag_unscaled.x = imu_navstik.hmc.data.vect.y; imu.mag_unscaled.y = -imu_navstik.hmc.data.vect.x; imu.mag_unscaled.z = imu_navstik.hmc.data.vect.z; - imu_navstik.hmc.data_available = FALSE; + imu_navstik.hmc.data_available = false; imu_scale_mag(&imu); AbiSendMsgIMU_MAG_INT32(IMU_BOARD_ID, now_ts, &imu.mag); } diff --git a/sw/airborne/subsystems/imu/imu_nps.c b/sw/airborne/subsystems/imu/imu_nps.c index e3d453390d..49d8c0aecb 100644 --- a/sw/airborne/subsystems/imu/imu_nps.c +++ b/sw/airborne/subsystems/imu/imu_nps.c @@ -30,9 +30,9 @@ struct ImuNps imu_nps; void imu_impl_init(void) { - imu_nps.gyro_available = FALSE; - imu_nps.mag_available = FALSE; - imu_nps.accel_available = FALSE; + imu_nps.gyro_available = false; + imu_nps.mag_available = false; + imu_nps.accel_available = false; } @@ -48,8 +48,8 @@ void imu_feed_gyro_accel(void) VECT3_ASSIGN(imu.accel_unscaled, sensors.accel.value.x, sensors.accel.value.y, sensors.accel.value.z); // set availability flags... - imu_nps.accel_available = TRUE; - imu_nps.gyro_available = TRUE; + imu_nps.accel_available = true; + imu_nps.gyro_available = true; } @@ -58,7 +58,7 @@ void imu_feed_mag(void) { VECT3_ASSIGN(imu.mag_unscaled, sensors.mag.value.x, sensors.mag.value.y, sensors.mag.value.z); - imu_nps.mag_available = TRUE; + imu_nps.mag_available = true; } @@ -66,17 +66,17 @@ void imu_nps_event(void) { uint32_t now_ts = get_sys_time_usec(); if (imu_nps.gyro_available) { - imu_nps.gyro_available = FALSE; + imu_nps.gyro_available = false; imu_scale_gyro(&imu); AbiSendMsgIMU_GYRO_INT32(IMU_BOARD_ID, now_ts, &imu.gyro); } if (imu_nps.accel_available) { - imu_nps.accel_available = FALSE; + imu_nps.accel_available = false; imu_scale_accel(&imu); AbiSendMsgIMU_ACCEL_INT32(IMU_BOARD_ID, now_ts, &imu.accel); } if (imu_nps.mag_available) { - imu_nps.mag_available = FALSE; + imu_nps.mag_available = false; imu_scale_mag(&imu); AbiSendMsgIMU_MAG_INT32(IMU_BOARD_ID, now_ts, &imu.mag); } diff --git a/sw/airborne/subsystems/imu/imu_ppzuav.c b/sw/airborne/subsystems/imu/imu_ppzuav.c index 16d7a76f39..a4ee049183 100644 --- a/sw/airborne/subsystems/imu/imu_ppzuav.c +++ b/sw/airborne/subsystems/imu/imu_ppzuav.c @@ -118,7 +118,7 @@ void imu_ppzuav_event(void) imu.accel_unscaled.x = -imu_ppzuav.acc_adxl.data.vect.x; imu.accel_unscaled.y = imu_ppzuav.acc_adxl.data.vect.y; imu.accel_unscaled.z = -imu_ppzuav.acc_adxl.data.vect.z; - imu_ppzuav.acc_adxl.data_available = FALSE; + imu_ppzuav.acc_adxl.data_available = false; imu_scale_accel(&imu); AbiSendMsgIMU_ACCEL_INT32(IMU_PPZUAV_ID, now_ts, &imu.accel); } @@ -129,7 +129,7 @@ void imu_ppzuav_event(void) imu.gyro_unscaled.p = -imu_ppzuav.gyro_itg.data.rates.p; imu.gyro_unscaled.q = imu_ppzuav.gyro_itg.data.rates.q; imu.gyro_unscaled.r = -imu_ppzuav.gyro_itg.data.rates.r; - imu_ppzuav.gyro_itg.data_available = FALSE; + imu_ppzuav.gyro_itg.data_available = false; imu_scale_gyro(&imu); AbiSendMsgIMU_GYRO_INT32(IMU_PPZUAV_ID, now_ts, &imu.gyro); } @@ -140,7 +140,7 @@ void imu_ppzuav_event(void) imu.mag_unscaled.x = -imu_ppzuav.mag_hmc.data.vect.y; imu.mag_unscaled.y = -imu_ppzuav.mag_hmc.data.vect.x; imu.mag_unscaled.z = -imu_ppzuav.mag_hmc.data.vect.z; - imu_ppzuav.mag_hmc.data_available = FALSE; + imu_ppzuav.mag_hmc.data_available = false; imu_scale_mag(&imu); AbiSendMsgIMU_MAG_INT32(IMU_PPZUAV_ID, now_ts, &imu.mag); } diff --git a/sw/airborne/subsystems/imu/imu_px4fmu.c b/sw/airborne/subsystems/imu/imu_px4fmu.c index c5d50fe68d..6656895d93 100644 --- a/sw/airborne/subsystems/imu/imu_px4fmu.c +++ b/sw/airborne/subsystems/imu/imu_px4fmu.c @@ -102,7 +102,7 @@ void imu_px4fmu_event(void) imu_px4fmu.mpu.data_accel.vect.y, imu_px4fmu.mpu.data_accel.vect.x, -imu_px4fmu.mpu.data_accel.vect.z); - imu_px4fmu.mpu.data_available = FALSE; + imu_px4fmu.mpu.data_available = false; imu_scale_gyro(&imu); imu_scale_accel(&imu); AbiSendMsgIMU_GYRO_INT32(IMU_BOARD_ID, now_ts, &imu.gyro); @@ -115,7 +115,7 @@ void imu_px4fmu_event(void) imu.mag_unscaled.x = imu_px4fmu.hmc.data.vect.y; imu.mag_unscaled.y = imu_px4fmu.hmc.data.vect.x; imu.mag_unscaled.z = -imu_px4fmu.hmc.data.vect.z; - imu_px4fmu.hmc.data_available = FALSE; + imu_px4fmu.hmc.data_available = false; imu_scale_mag(&imu); AbiSendMsgIMU_MAG_INT32(IMU_BOARD_ID, now_ts, &imu.mag); } diff --git a/sw/airborne/subsystems/imu/imu_um6.c b/sw/airborne/subsystems/imu/imu_um6.c index 3893761085..a4a1efb372 100644 --- a/sw/airborne/subsystems/imu/imu_um6.c +++ b/sw/airborne/subsystems/imu/imu_um6.c @@ -56,9 +56,9 @@ struct FloatQuat UM6_quat; inline void UM6_imu_align(void); inline void UM6_send_packet(uint8_t *packet_buffer, uint8_t packet_length); inline uint16_t UM6_calculate_checksum(uint8_t packet_buffer[], uint8_t packet_length); -inline bool_t UM6_verify_chk(uint8_t packet_buffer[], uint8_t packet_length); +inline bool UM6_verify_chk(uint8_t packet_buffer[], uint8_t packet_length); -inline bool_t UM6_verify_chk(uint8_t packet_buffer[], uint8_t packet_length) +inline bool UM6_verify_chk(uint8_t packet_buffer[], uint8_t packet_length) { chk_rec = (packet_buffer[packet_length - 2] << 8) | packet_buffer[packet_length - 1]; chk_calc = UM6_calculate_checksum(packet_buffer, packet_length - 2); @@ -140,7 +140,7 @@ void imu_impl_init(void) // Initialize packet UM6_packet.status = UM6PacketWaiting; UM6_packet.msg_idx = 0; - UM6_packet.msg_available = FALSE; + UM6_packet.msg_available = false; UM6_packet.chksm_error = 0; UM6_packet.hdr_error = 0; @@ -345,9 +345,9 @@ void UM6_packet_parse(uint8_t c) UM6_packet.msg_idx++; if (UM6_packet.msg_idx == PacketLength) { if (UM6_verify_chk(UM6_packet.msg_buf, PacketLength)) { - UM6_packet.msg_available = TRUE; + UM6_packet.msg_available = true; } else { - UM6_packet.msg_available = FALSE; + UM6_packet.msg_available = false; UM6_packet.chksm_error++; } UM6_packet.status = UM6PacketWaiting; diff --git a/sw/airborne/subsystems/imu/imu_um6.h b/sw/airborne/subsystems/imu/imu_um6.h index 9aada3073a..68f5c39c29 100644 --- a/sw/airborne/subsystems/imu/imu_um6.h +++ b/sw/airborne/subsystems/imu/imu_um6.h @@ -77,7 +77,7 @@ extern struct FloatEulers UM6_eulers; extern struct FloatQuat UM6_quat; struct UM6Packet { - bool_t msg_available; + bool msg_available; uint32_t chksm_error; uint32_t hdr_error; uint8_t msg_buf[IMU_UM6_BUFFER_LENGTH]; @@ -106,7 +106,7 @@ static inline void imu_um6_event(void) UM6_packet_parse(uart_getch(&(UM6_LINK))); } if (UM6_packet.msg_available) { - UM6_packet.msg_available = FALSE; + UM6_packet.msg_available = false; UM6_packet_read_message(); imu_um6_publish(); } diff --git a/sw/airborne/subsystems/ins/hf_float.c b/sw/airborne/subsystems/ins/hf_float.c index d2062edf33..9f817cc3e0 100644 --- a/sw/airborne/subsystems/ins/hf_float.c +++ b/sw/airborne/subsystems/ins/hf_float.c @@ -278,7 +278,7 @@ void b2_hff_init(float init_x, float init_xdot, float init_y, float init_ydot) acc_buf_n = 0; b2_hff_rb_put = b2_hff_rb; b2_hff_rb_last = b2_hff_rb; - b2_hff_rb_last->rollback = FALSE; + b2_hff_rb_last->rollback = false; b2_hff_rb_last->lag_counter = 0; b2_hff_state.lag_counter = GPS_LAG_N; #ifdef SITL @@ -293,7 +293,7 @@ void b2_hff_init(float init_x, float init_xdot, float init_y, float init_ydot) b2_hff_state.lag_counter = 0; #endif b2_hff_rb_n = 0; - b2_hff_state.rollback = FALSE; + b2_hff_state.rollback = false; lag_counter_err = 0; save_counter = -1; past_save_counter = SAVE_DONE; @@ -381,7 +381,7 @@ static void b2_hff_rb_put_state(struct HfilterFloat *source) /* copy state from source into buffer */ b2_hff_set_state(b2_hff_rb_put, source); b2_hff_rb_put->lag_counter = 0; - b2_hff_rb_put->rollback = FALSE; + b2_hff_rb_put->rollback = false; /* forward write pointer */ INC_RB_POINTER(b2_hff_rb_put); @@ -403,7 +403,7 @@ static void b2_hff_rb_drop_last(void) } else { PRINT_DBG(2, ("hff ringbuffer empty!\n")); b2_hff_rb_last->lag_counter = 0; - b2_hff_rb_last->rollback = FALSE; + b2_hff_rb_last->rollback = false; } PRINT_DBG(2, ("drop last state. fill count now: %d\n", b2_hff_rb_n)); } @@ -565,7 +565,7 @@ void b2_hff_update_gps(struct FloatVect2 *pos_ned, struct FloatVect2 *speed_ned) PRINT_DBG(2, ("update. rb_n: %d lag_counter: %d lag_cnt_err: %d\n", b2_hff_rb_n, b2_hff_rb_last->lag_counter, lag_counter_err)); if (abs(lag_counter_err) <= GPS_LAG_TOL_N) { - b2_hff_rb_last->rollback = TRUE; + b2_hff_rb_last->rollback = true; b2_hff_update_x(b2_hff_rb_last, pos_ned->x, Rgps_pos); b2_hff_update_y(b2_hff_rb_last, pos_ned->y, Rgps_pos); #if HFF_UPDATE_SPEED diff --git a/sw/airborne/subsystems/ins/hf_float.h b/sw/airborne/subsystems/ins/hf_float.h index 3d2d01091b..7d6e43eab7 100644 --- a/sw/airborne/subsystems/ins/hf_float.h +++ b/sw/airborne/subsystems/ins/hf_float.h @@ -47,7 +47,7 @@ struct HfilterFloat { float xP[HFF_STATE_SIZE][HFF_STATE_SIZE]; float yP[HFF_STATE_SIZE][HFF_STATE_SIZE]; uint8_t lag_counter; - bool_t rollback; + bool rollback; }; extern struct HfilterFloat b2_hff_state; diff --git a/sw/airborne/subsystems/ins/ins_alt_float.c b/sw/airborne/subsystems/ins/ins_alt_float.c index 0725b7844d..e14b08c81e 100644 --- a/sw/airborne/subsystems/ins/ins_alt_float.c +++ b/sw/airborne/subsystems/ins/ins_alt_float.c @@ -102,11 +102,11 @@ void ins_alt_float_init(void) #if USE_INS_NAV_INIT struct UtmCoor_f utm0 = { nav_utm_north0, nav_utm_east0, ground_alt, nav_utm_zone0 }; stateSetLocalUtmOrigin_f(&utm0); - ins_altf.origin_initialized = TRUE; + ins_altf.origin_initialized = true; stateSetPositionUtm_f(&utm0); #else - ins_altf.origin_initialized = FALSE; + ins_altf.origin_initialized = false; #endif // set initial body to imu to 0 @@ -117,10 +117,10 @@ void ins_alt_float_init(void) #if USE_BAROMETER ins_altf.qfe = 0.0f; - ins_altf.baro_initialized = FALSE; + ins_altf.baro_initialized = false; ins_altf.baro_alt = 0.0f; #endif - ins_altf.reset_alt_ref = FALSE; + ins_altf.reset_alt_ref = false; // why do we have this here? alt_kalman(0.0f, 0.1); @@ -138,10 +138,10 @@ void ins_reset_local_origin(void) // reset state UTM ref stateSetLocalUtmOrigin_f(&utm); - ins_altf.origin_initialized = TRUE; + ins_altf.origin_initialized = true; // reset filter flag - ins_altf.reset_alt_ref = TRUE; + ins_altf.reset_alt_ref = true; } void ins_reset_altitude_ref(void) @@ -152,7 +152,7 @@ void ins_reset_altitude_ref(void) // reset state UTM ref stateSetLocalUtmOrigin_f(&utm); // reset filter flag - ins_altf.reset_alt_ref = TRUE; + ins_altf.reset_alt_ref = true; } #if USE_BAROMETER @@ -171,10 +171,10 @@ void ins_alt_float_update_baro(float pressure) if (!ins_altf.baro_initialized) { ins_altf.qfe = pressure; - ins_altf.baro_initialized = TRUE; + ins_altf.baro_initialized = true; } if (ins_altf.reset_alt_ref) { - ins_altf.reset_alt_ref = FALSE; + ins_altf.reset_alt_ref = false; ins_altf.alt = ground_alt; ins_altf.alt_dot = 0.0f; ins_altf.qfe = pressure; @@ -232,7 +232,7 @@ void ins_alt_float_update_gps(struct GpsState *gps_s) float falt = gps_s->hmsl / 1000.0f; if (ins_altf.reset_alt_ref) { - ins_altf.reset_alt_ref = FALSE; + ins_altf.reset_alt_ref = false; ins_altf.alt = falt; ins_altf.alt_dot = 0.0f; alt_kalman_reset(); diff --git a/sw/airborne/subsystems/ins/ins_alt_float.h b/sw/airborne/subsystems/ins/ins_alt_float.h index 5f0c147882..fba52d955d 100644 --- a/sw/airborne/subsystems/ins/ins_alt_float.h +++ b/sw/airborne/subsystems/ins/ins_alt_float.h @@ -38,13 +38,13 @@ struct InsAltFloat { float alt; ///< estimated altitude above MSL in meters float alt_dot; ///< estimated vertical speed in m/s (positive-up) - bool_t reset_alt_ref; ///< flag to request reset of altitude reference to current alt - bool_t origin_initialized; ///< TRUE if UTM origin was initialized + bool reset_alt_ref; ///< flag to request reset of altitude reference to current alt + bool origin_initialized; ///< TRUE if UTM origin was initialized #if USE_BAROMETER float qfe; float baro_alt; - bool_t baro_initialized; + bool baro_initialized; #endif }; diff --git a/sw/airborne/subsystems/ins/ins_float_invariant.c b/sw/airborne/subsystems/ins/ins_float_invariant.c index 124c191d74..d2ac7ab269 100644 --- a/sw/airborne/subsystems/ins/ins_float_invariant.c +++ b/sw/airborne/subsystems/ins/ins_float_invariant.c @@ -55,7 +55,7 @@ #if LOG_INVARIANT_FILTER #include "sdLog.h" #include "subsystems/chibios-libopencm3/chibios_sdlog.h" -bool_t log_started = FALSE; +bool log_started = false; #endif /*------------- =*= Invariant Observers =*= -------------* @@ -146,10 +146,10 @@ static const struct FloatVect3 A = { 0.f, 0.f, 9.81f }; #define B ins_float_inv.mag_h /* barometer */ -bool_t ins_baro_initialized; +bool ins_baro_initialized; /* gps */ -bool_t ins_gps_fix_once; +bool ins_gps_fix_once; /* error computation */ static inline void error_output(struct InsFloatInv *_ins); @@ -182,8 +182,8 @@ static inline void init_invariant_state(void) ins_float_inv.meas.baro_alt = 0.0f; // init baro - ins_baro_initialized = FALSE; - ins_gps_fix_once = FALSE; + ins_baro_initialized = false; + ins_gps_fix_once = false; } #if SEND_INVARIANT_FILTER || PERIODIC_TELEMETRY @@ -261,8 +261,8 @@ void ins_float_invariant_init(void) ins_float_inv.gains.rh = INS_INV_RH; ins_float_inv.gains.sh = INS_INV_SH; - ins_float_inv.is_aligned = FALSE; - ins_float_inv.reset = FALSE; + ins_float_inv.is_aligned = false; + ins_float_inv.reset = false; #if PERIODIC_TELEMETRY register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_INV_FILTER, send_inv_filter); @@ -319,7 +319,7 @@ void ins_float_invariant_align(struct FloatRates *lp_gyro, stateSetNedToBodyQuat_f(&ins_float_inv.state.quat); // ins and ahrs are now running - ins_float_inv.is_aligned = TRUE; + ins_float_inv.is_aligned = true; } void ins_float_invariant_propagate(struct FloatRates* gyro, struct FloatVect3* accel, float dt) @@ -329,8 +329,8 @@ void ins_float_invariant_propagate(struct FloatRates* gyro, struct FloatVect3* a // realign all the filter if needed // a complete init cycle is required if (ins_float_inv.reset) { - ins_float_inv.reset = FALSE; - ins_float_inv.is_aligned = FALSE; + ins_float_inv.reset = false; + ins_float_inv.is_aligned = false; init_invariant_state(); } @@ -380,7 +380,7 @@ void ins_float_invariant_propagate(struct FloatRates* gyro, struct FloatVect3* a // log file header sdLogWriteLog(pprzLogFile, "p q r ax ay az gx gy gz gvx gvy gvz mx my mz b qi qx qy qz bp bq br vx vy vz px py pz hb as\n"); - log_started = TRUE; + log_started = true; } else { sdLogWriteLog(pprzLogFile, "%.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f\n", @@ -424,7 +424,7 @@ void ins_float_invariant_update_gps(struct GpsState *gps_s) { if (gps_s->fix >= GPS_FIX_3D && ins_float_inv.is_aligned) { - ins_gps_fix_once = TRUE; + ins_gps_fix_once = true; #if INS_FINV_USE_UTM if (state.utm_initialized_f) { @@ -473,11 +473,11 @@ void ins_float_invariant_update_baro(float pressure) // test stop condition if (fabs(alpha) < 0.005f) { ins_qfe = baro_moy; - ins_baro_initialized = TRUE; + ins_baro_initialized = true; } if (i == 250) { ins_qfe = pressure; - ins_baro_initialized = TRUE; + ins_baro_initialized = true; } i++; } else { /* normal update with baro measurement */ diff --git a/sw/airborne/subsystems/ins/ins_float_invariant.h b/sw/airborne/subsystems/ins/ins_float_invariant.h index 02fd90403e..034764e07a 100644 --- a/sw/airborne/subsystems/ins/ins_float_invariant.h +++ b/sw/airborne/subsystems/ins/ins_float_invariant.h @@ -110,13 +110,13 @@ struct InsFloatInv { struct inv_correction_gains corr; ///< correction gains struct inv_gains gains; ///< tuning gains - bool_t reset; ///< flag to request reset/reinit the filter + bool reset; ///< flag to request reset/reinit the filter /** body_to_imu rotation */ struct OrientationReps body_to_imu; struct FloatVect3 mag_h; - bool_t is_aligned; + bool is_aligned; }; extern struct InsFloatInv ins_float_inv; diff --git a/sw/airborne/subsystems/ins/ins_gps_passthrough.c b/sw/airborne/subsystems/ins/ins_gps_passthrough.c index 93bf552ffe..8a24c76ebf 100644 --- a/sw/airborne/subsystems/ins/ins_gps_passthrough.c +++ b/sw/airborne/subsystems/ins/ins_gps_passthrough.c @@ -47,7 +47,7 @@ PRINT_CONFIG_MSG("USE_INS_NAV_INIT defaulting to TRUE") struct InsGpsPassthrough { struct LtpDef_i ltp_def; - bool_t ltp_initialized; + bool ltp_initialized; /* output LTP NED */ struct NedCoor_i ltp_pos; @@ -105,9 +105,9 @@ void ins_gps_passthrough_init(void) ins_gp.ltp_def.hmsl = NAV_ALT0; stateSetLocalOrigin_i(&ins_gp.ltp_def); - ins_gp.ltp_initialized = TRUE; + ins_gp.ltp_initialized = true; #else - ins_gp.ltp_initialized = FALSE; + ins_gp.ltp_initialized = false; #endif INT32_VECT3_ZERO(ins_gp.ltp_pos); @@ -127,7 +127,7 @@ void ins_reset_local_origin(void) ins_gp.ltp_def.lla.alt = gps.lla_pos.alt; ins_gp.ltp_def.hmsl = gps.hmsl; stateSetLocalOrigin_i(&ins_gp.ltp_def); - ins_gp.ltp_initialized = TRUE; + ins_gp.ltp_initialized = true; } void ins_reset_altitude_ref(void) diff --git a/sw/airborne/subsystems/ins/ins_int.c b/sw/airborne/subsystems/ins/ins_int.c index c9fc0b9c6b..49529ecbec 100644 --- a/sw/airborne/subsystems/ins/ins_int.c +++ b/sw/airborne/subsystems/ins/ins_int.c @@ -195,9 +195,9 @@ void ins_int_init(void) #if USE_INS_NAV_INIT ins_init_origin_from_flightplan(); - ins_int.ltp_initialized = TRUE; + ins_int.ltp_initialized = true; #else - ins_int.ltp_initialized = FALSE; + ins_int.ltp_initialized = false; #endif /* we haven't had any measurement updates yet, so set the counter to max */ @@ -205,7 +205,7 @@ void ins_int_init(void) // Bind to BARO_ABS message AbiBindMsgBARO_ABS(INS_BARO_ID, &baro_ev, baro_cb); - ins_int.baro_initialized = FALSE; + ins_int.baro_initialized = false; #if USE_SONAR ins_int.update_on_agl = INS_SONAR_UPDATE_ON_AGL; @@ -213,8 +213,8 @@ void ins_int_init(void) AbiBindMsgAGL(INS_SONAR_ID, &sonar_ev, sonar_cb); #endif - ins_int.vf_reset = FALSE; - ins_int.hf_realign = FALSE; + ins_int.vf_reset = false; + ins_int.hf_realign = false; /* init vertical and horizontal filters */ vff_init_zero(); @@ -240,19 +240,19 @@ void ins_reset_local_origin(void) ltp_def_from_ecef_i(&ins_int.ltp_def, &gps.ecef_pos); ins_int.ltp_def.lla.alt = gps.lla_pos.alt; ins_int.ltp_def.hmsl = gps.hmsl; - ins_int.ltp_initialized = TRUE; + ins_int.ltp_initialized = true; stateSetLocalOrigin_i(&ins_int.ltp_def); } else { - ins_int.ltp_initialized = FALSE; + ins_int.ltp_initialized = false; } #else - ins_int.ltp_initialized = FALSE; + ins_int.ltp_initialized = false; #endif #if USE_HFF - ins_int.hf_realign = TRUE; + ins_int.hf_realign = true; #endif - ins_int.vf_reset = TRUE; + ins_int.vf_reset = true; } void ins_reset_altitude_ref(void) @@ -267,7 +267,7 @@ void ins_reset_altitude_ref(void) ins_int.ltp_def.hmsl = gps.hmsl; stateSetLocalOrigin_i(&ins_int.ltp_def); #endif - ins_int.vf_reset = TRUE; + ins_int.vf_reset = true; } void ins_int_propagate(struct Int32Vect3 *accel, float dt) @@ -319,12 +319,12 @@ static void baro_cb(uint8_t __attribute__((unused)) sender_id, float pressure) if (!ins_int.baro_initialized && pressure > 1e-7) { // wait for a first positive value ins_int.qfe = pressure; - ins_int.baro_initialized = TRUE; + ins_int.baro_initialized = true; } if (ins_int.baro_initialized) { if (ins_int.vf_reset) { - ins_int.vf_reset = FALSE; + ins_int.vf_reset = false; ins_int.qfe = pressure; vff_realign(0.); ins_update_from_vff(); @@ -397,7 +397,7 @@ void ins_int_update_gps(struct GpsState *gps_s) VECT2_SDIV(gps_speed_m_s_ned, gps_speed_m_s_ned, 100.); if (ins_int.hf_realign) { - ins_int.hf_realign = FALSE; + ins_int.hf_realign = false; const struct FloatVect2 zero = {0.0f, 0.0f}; b2_hff_realign(gps_pos_m_ned, zero); } diff --git a/sw/airborne/subsystems/ins/ins_int.h b/sw/airborne/subsystems/ins/ins_int.h index dc5f2c81fb..f6a71732db 100644 --- a/sw/airborne/subsystems/ins/ins_int.h +++ b/sw/airborne/subsystems/ins/ins_int.h @@ -38,19 +38,19 @@ /** Ins implementation state (fixed point) */ struct InsInt { struct LtpDef_i ltp_def; - bool_t ltp_initialized; + bool ltp_initialized; uint32_t propagation_cnt; ///< number of propagation steps since the last measurement update /** request to realign horizontal filter. * Sets to current position (local origin unchanged). */ - bool_t hf_realign; + bool hf_realign; /** request to reset vertical filter. * Sets the z-position to zero and resets the the z-reference to current altitude. */ - bool_t vf_reset; + bool vf_reset; /* output LTP NED */ struct NedCoor_i ltp_pos; @@ -60,10 +60,10 @@ struct InsInt { /* baro */ float baro_z; ///< z-position calculated from baro in meters (z-down) float qfe; - bool_t baro_initialized; + bool baro_initialized; #if USE_SONAR - bool_t update_on_agl; ///< use sonar to update agl if available + bool update_on_agl; ///< use sonar to update agl if available #endif }; diff --git a/sw/airborne/subsystems/ins/ins_vectornav.c b/sw/airborne/subsystems/ins/ins_vectornav.c index e22211e5eb..dba77614bd 100644 --- a/sw/airborne/subsystems/ins/ins_vectornav.c +++ b/sw/airborne/subsystems/ins/ins_vectornav.c @@ -112,7 +112,7 @@ void ins_vectornav_event(void) // read message if (ins_vn.vn_packet.msg_available) { ins_vectornav_read_message(); - ins_vn.vn_packet.msg_available = FALSE; + ins_vn.vn_packet.msg_available = false; } } @@ -129,7 +129,7 @@ void ins_vectornav_init(void) // Initialize packet ins_vn.vn_packet.status = VNMsgSync; ins_vn.vn_packet.msg_idx = 0; - ins_vn.vn_packet.msg_available = FALSE; + ins_vn.vn_packet.msg_available = false; ins_vn.vn_packet.chksm_error = 0; ins_vn.vn_packet.hdr_error = 0; ins_vn.vn_packet.overrun_error = 0; @@ -146,9 +146,9 @@ void ins_vectornav_init(void) #if USE_INS_NAV_INIT ins_init_origin_from_flightplan(); - ins_vn.ltp_initialized = TRUE; + ins_vn.ltp_initialized = true; #else - ins_vn.ltp_initialized = FALSE; + ins_vn.ltp_initialized = false; #endif struct FloatEulers body_to_imu_eulers = diff --git a/sw/airborne/subsystems/ins/ins_vectornav.h b/sw/airborne/subsystems/ins/ins_vectornav.h index 02848f2583..83654cb374 100644 --- a/sw/airborne/subsystems/ins/ins_vectornav.h +++ b/sw/airborne/subsystems/ins/ins_vectornav.h @@ -64,7 +64,7 @@ // Ins implementation state (fixed point) struct InsVectornav { struct LtpDef_i ltp_def; // initial position - bool_t ltp_initialized; // status indicator + bool ltp_initialized; // status indicator // output LTP NED for telemetry messages struct NedCoor_i ltp_pos_i; diff --git a/sw/airborne/subsystems/intermcu/intermcu_ap.c b/sw/airborne/subsystems/intermcu/intermcu_ap.c index 7f4b5c68f2..3ce6e576b8 100644 --- a/sw/airborne/subsystems/intermcu/intermcu_ap.c +++ b/sw/airborne/subsystems/intermcu/intermcu_ap.c @@ -72,8 +72,8 @@ void intermcu_periodic(void) } } -static bool_t disable_comm; -void disable_inter_comm(bool_t value) +static bool disable_comm; +void disable_inter_comm(bool value) { disable_comm = value; } @@ -120,7 +120,7 @@ static inline void intermcu_parse_msg(struct transport_rx *trans, void (*rc_fram } // Set to receive another message - trans->msg_received = FALSE; + trans->msg_received = false; } void RadioControlEvent(void (*frame_handler)(void)) diff --git a/sw/airborne/subsystems/intermcu/intermcu_ap.h b/sw/airborne/subsystems/intermcu/intermcu_ap.h index 6cee9f703c..aba906327e 100644 --- a/sw/airborne/subsystems/intermcu/intermcu_ap.h +++ b/sw/airborne/subsystems/intermcu/intermcu_ap.h @@ -33,7 +33,7 @@ void intermcu_set_actuators(pprz_t *command_values, uint8_t ap_mode); void RadioControlEvent(void (*frame_handler)(void)); void intermcu_send_spektrum_bind(void); -void disable_inter_comm(bool_t value); +void disable_inter_comm(bool value); /* We need radio defines for the Autopilot */ #define RADIO_THROTTLE 0 diff --git a/sw/airborne/subsystems/intermcu/intermcu_fbw.c b/sw/airborne/subsystems/intermcu/intermcu_fbw.c index 97abc6407c..5c3654e2b2 100644 --- a/sw/airborne/subsystems/intermcu/intermcu_fbw.c +++ b/sw/airborne/subsystems/intermcu/intermcu_fbw.c @@ -37,8 +37,8 @@ #include "mcu_periph/sys_time.h" static uint8_t px4RebootSequence[] = {0x41, 0xd7, 0x32, 0x0a, 0x46, 0x39}; static uint8_t px4RebootSequenceCount = 0; -static bool_t px4RebootTimeout = FALSE; -uint8_t autopilot_motors_on = FALSE; +static bool px4RebootTimeout = false; +uint8_t autopilot_motors_on = false; tid_t px4bl_tid; ///< id for time out of the px4 bootloader reset #endif @@ -150,7 +150,7 @@ static void intermcu_parse_msg(struct transport_rx *trans, void (*commands_frame } // Set to receive another message - trans->msg_received = FALSE; + trans->msg_received = false; } void InterMcuEvent(void (*frame_handler)(void)) diff --git a/sw/airborne/subsystems/navigation/common_nav.c b/sw/airborne/subsystems/navigation/common_nav.c index 1e4abe56d1..897e390c4a 100644 --- a/sw/airborne/subsystems/navigation/common_nav.c +++ b/sw/airborne/subsystems/navigation/common_nav.c @@ -32,7 +32,7 @@ float dist2_to_home; float dist2_to_wp; -bool_t too_far_from_home; +bool too_far_from_home; const uint8_t nb_waypoint = NB_WAYPOINT; struct point waypoints[NB_WAYPOINT] = WAYPOINTS_UTM; diff --git a/sw/airborne/subsystems/navigation/common_nav.h b/sw/airborne/subsystems/navigation/common_nav.h index b5afffd8ac..3f78ba13b8 100644 --- a/sw/airborne/subsystems/navigation/common_nav.h +++ b/sw/airborne/subsystems/navigation/common_nav.h @@ -34,7 +34,7 @@ extern float max_dist_from_home; extern float dist2_to_home; extern float dist2_to_wp; -extern bool_t too_far_from_home; +extern bool too_far_from_home; struct point { float x; @@ -68,21 +68,21 @@ unit_t nav_update_waypoints_alt(void) __attribute__((unused)); void common_nav_periodic_task_4Hz(void); -#define NavSetGroundReferenceHere() ({ nav_reset_reference(); nav_update_waypoints_alt(); FALSE; }) +#define NavSetGroundReferenceHere() ({ nav_reset_reference(); nav_update_waypoints_alt(); false; }) -#define NavSetAltitudeReferenceHere() ({ nav_reset_alt(); nav_update_waypoints_alt(); FALSE; }) +#define NavSetAltitudeReferenceHere() ({ nav_reset_alt(); nav_update_waypoints_alt(); false; }) #define NavSetWaypointHere(_wp) ({ \ waypoints[_wp].x = stateGetPositionEnu_f()->x; \ waypoints[_wp].y = stateGetPositionEnu_f()->y; \ - FALSE; \ + false; \ }) #define NavSetWaypointPosAndAltHere(_wp) ({ \ waypoints[_wp].x = stateGetPositionEnu_f()->x; \ waypoints[_wp].y = stateGetPositionEnu_f()->y; \ waypoints[_wp].a = stateGetPositionEnu_f()->z + ground_alt; \ - FALSE; \ + false; \ }) #endif /* COMMON_NAV_H */ diff --git a/sw/airborne/subsystems/navigation/nav_survey_rectangle.c b/sw/airborne/subsystems/navigation/nav_survey_rectangle.c index 8aed2396d9..f6c62c1bc6 100644 --- a/sw/airborne/subsystems/navigation/nav_survey_rectangle.c +++ b/sw/airborne/subsystems/navigation/nav_survey_rectangle.c @@ -32,7 +32,7 @@ static struct point survey_from; static struct point survey_to; -static bool_t survey_uturn __attribute__((unused)) = FALSE; +static bool survey_uturn __attribute__((unused)) = false; static survey_orientation_t survey_orientation = NS; #define SurveyGoingNorth() ((survey_orientation == NS) && (survey_to.y > survey_from.y)) @@ -82,7 +82,7 @@ void nav_survey_rectangle_init(uint8_t wp1, uint8_t wp2, float grid, survey_orie } } nav_survey_shift = grid; - survey_uturn = FALSE; + survey_uturn = false; LINE_START_FUNCTION; } @@ -91,7 +91,7 @@ void nav_survey_rectangle(uint8_t wp1, uint8_t wp2) { static float survey_radius; - nav_survey_active = TRUE; + nav_survey_active = true; nav_survey_west = Min(WaypointX(wp1), WaypointX(wp2)); nav_survey_east = Max(WaypointX(wp1), WaypointX(wp2)); @@ -174,8 +174,8 @@ void nav_survey_rectangle(uint8_t wp1, uint8_t wp2) } } - nav_in_segment = FALSE; - survey_uturn = TRUE; + nav_in_segment = false; + survey_uturn = true; LINE_STOP_FUNCTION; } } else { /* U-turn */ @@ -184,8 +184,8 @@ void nav_survey_rectangle(uint8_t wp1, uint8_t wp2) (SurveyGoingEast() && NavCourseCloseTo(90)) || (SurveyGoingWest() && NavCourseCloseTo(270))) { /* U-turn finished, back on a segment */ - survey_uturn = FALSE; - nav_in_circle = FALSE; + survey_uturn = false; + nav_in_circle = false; LINE_START_FUNCTION; } else { NavCircleWaypoint(0, survey_radius); diff --git a/sw/airborne/subsystems/navigation/waypoints.c b/sw/airborne/subsystems/navigation/waypoints.c index f865e3865c..4bf4f627fa 100644 --- a/sw/airborne/subsystems/navigation/waypoints.c +++ b/sw/airborne/subsystems/navigation/waypoints.c @@ -37,7 +37,7 @@ void waypoints_init(void) struct EnuCoor_f wp_tmp_float[NB_WAYPOINT] = WAYPOINTS_ENU; struct LlaCoor_i wp_tmp_lla_i[NB_WAYPOINT] = WAYPOINTS_LLA_WGS84; /* element in array is TRUE if absolute/global waypoint */ - bool_t is_global[NB_WAYPOINT] = WAYPOINTS_GLOBAL; + bool is_global[NB_WAYPOINT] = WAYPOINTS_GLOBAL; uint8_t i = 0; for (i = 0; i < nb_waypoint; i++) { /* clear all flags */ @@ -52,12 +52,12 @@ void waypoints_init(void) } } -bool_t waypoint_is_global(uint8_t wp_id) +bool waypoint_is_global(uint8_t wp_id) { if (wp_id < nb_waypoint) { return bit_is_set(waypoints[wp_id].flags, WP_FLAG_GLOBAL); } - return FALSE; + return false; } void waypoint_set_global_flag(uint8_t wp_id) diff --git a/sw/airborne/subsystems/navigation/waypoints.h b/sw/airborne/subsystems/navigation/waypoints.h index 4be4a1971c..fca7922914 100644 --- a/sw/airborne/subsystems/navigation/waypoints.h +++ b/sw/airborne/subsystems/navigation/waypoints.h @@ -54,7 +54,7 @@ extern struct Waypoint waypoints[]; extern void waypoints_init(void); -extern bool_t waypoint_is_global(uint8_t wp_id); +extern bool waypoint_is_global(uint8_t wp_id); extern void waypoint_set_global_flag(uint8_t wp_id); extern void waypoint_clear_global_flag(uint8_t wp_id); diff --git a/sw/airborne/subsystems/radio_control/ppm.c b/sw/airborne/subsystems/radio_control/ppm.c index f6793b00fd..255d16063e 100644 --- a/sw/airborne/subsystems/radio_control/ppm.c +++ b/sw/airborne/subsystems/radio_control/ppm.c @@ -29,14 +29,14 @@ #include "subsystems/radio_control/ppm.h" uint16_t ppm_pulses[RADIO_CTL_NB]; -volatile bool_t ppm_frame_available; +volatile bool ppm_frame_available; /* * State machine for decoding ppm frames */ static uint8_t ppm_cur_pulse; static uint32_t ppm_last_pulse_time; -static bool_t ppm_data_valid; +static bool ppm_data_valid; /** * RssiValid test macro. @@ -65,10 +65,10 @@ static void send_ppm(struct transport_tx *trans, struct link_device *dev) void radio_control_impl_init(void) { - ppm_frame_available = FALSE; + ppm_frame_available = false; ppm_last_pulse_time = 0; ppm_cur_pulse = RADIO_CTL_NB; - ppm_data_valid = FALSE; + ppm_data_valid = false; ppm_arch_init(); @@ -89,7 +89,7 @@ void radio_control_impl_event(void (* _received_frame_handler)(void)) NormalizePpmIIR(ppm_pulses, radio_control); _received_frame_handler(); } - ppm_frame_available = FALSE; + ppm_frame_available = false; } } @@ -109,12 +109,12 @@ void ppm_decode_frame(uint32_t ppm_time) if (length > RC_PPM_TICKS_OF_USEC(PPM_SYNC_MIN_LEN) && length < RC_PPM_TICKS_OF_USEC(PPM_SYNC_MAX_LEN)) { if (ppm_data_valid && RssiValid()) { - ppm_frame_available = TRUE; - ppm_data_valid = FALSE; + ppm_frame_available = true; + ppm_data_valid = false; } ppm_cur_pulse = 0; } else { - ppm_data_valid = FALSE; + ppm_data_valid = false; } } else { if (length > RC_PPM_TICKS_OF_USEC(PPM_DATA_MIN_LEN) && @@ -122,11 +122,11 @@ void ppm_decode_frame(uint32_t ppm_time) ppm_pulses[ppm_cur_pulse] = length; ppm_cur_pulse++; if (ppm_cur_pulse == RADIO_CTL_NB) { - ppm_data_valid = TRUE; + ppm_data_valid = true; } } else { ppm_cur_pulse = RADIO_CTL_NB; - ppm_data_valid = FALSE; + ppm_data_valid = false; } } } diff --git a/sw/airborne/subsystems/radio_control/ppm.h b/sw/airborne/subsystems/radio_control/ppm.h index 022abb9d7c..fd7f26334e 100644 --- a/sw/airborne/subsystems/radio_control/ppm.h +++ b/sw/airborne/subsystems/radio_control/ppm.h @@ -58,7 +58,7 @@ extern void ppm_arch_init(void); #define PPM_PULSE_TYPE_NEGATIVE 1 extern uint16_t ppm_pulses[RADIO_CTL_NB]; -extern volatile bool_t ppm_frame_available; +extern volatile bool ppm_frame_available; /** * RC event function with handler callback. diff --git a/sw/airborne/subsystems/radio_control/rc_datalink.c b/sw/airborne/subsystems/radio_control/rc_datalink.c index b0214e6211..dbef64e21a 100644 --- a/sw/airborne/subsystems/radio_control/rc_datalink.c +++ b/sw/airborne/subsystems/radio_control/rc_datalink.c @@ -28,12 +28,12 @@ #include "subsystems/radio_control.h" int8_t rc_dl_values[ RC_DL_NB_CHANNEL ]; -volatile bool_t rc_dl_frame_available; +volatile bool rc_dl_frame_available; void radio_control_impl_init(void) { - rc_dl_frame_available = FALSE; + rc_dl_frame_available = false; } @@ -50,7 +50,7 @@ void parse_rc_3ch_datalink(uint8_t throttle_mode, rc_dl_values[RADIO_MODE] = (int8_t)mode; rc_dl_values[RADIO_YAW] = 0; - rc_dl_frame_available = TRUE; + rc_dl_frame_available = true; } void parse_rc_4ch_datalink( @@ -66,7 +66,7 @@ void parse_rc_4ch_datalink( rc_dl_values[RADIO_PITCH] = pitch; rc_dl_values[RADIO_YAW] = yaw; - rc_dl_frame_available = TRUE; + rc_dl_frame_available = true; } /** @@ -95,6 +95,6 @@ void radio_control_impl_event(void (* _received_frame_handler)(void)) radio_control.status = RC_OK; rc_datalink_normalize(rc_dl_values, radio_control.values); _received_frame_handler(); - rc_dl_frame_available = FALSE; + rc_dl_frame_available = false; } } diff --git a/sw/airborne/subsystems/radio_control/rc_datalink.h b/sw/airborne/subsystems/radio_control/rc_datalink.h index 432f5fcddb..25acc0dbfc 100644 --- a/sw/airborne/subsystems/radio_control/rc_datalink.h +++ b/sw/airborne/subsystems/radio_control/rc_datalink.h @@ -43,7 +43,7 @@ #define RADIO_MODE 4 extern int8_t rc_dl_values[ RC_DL_NB_CHANNEL ]; -extern volatile bool_t rc_dl_frame_available; +extern volatile bool rc_dl_frame_available; /** * Decode datalink message to get rc values with RC_3CH message diff --git a/sw/airborne/subsystems/radio_control/sbus.c b/sw/airborne/subsystems/radio_control/sbus.c index 991bca1cc5..a9dbb2663d 100644 --- a/sw/airborne/subsystems/radio_control/sbus.c +++ b/sw/airborne/subsystems/radio_control/sbus.c @@ -76,6 +76,6 @@ void radio_control_impl_event(void (* _received_frame_handler)(void)) NormalizePpmIIR(sbus.pulses, radio_control); _received_frame_handler(); } - sbus.frame_available = FALSE; + sbus.frame_available = false; } } diff --git a/sw/airborne/subsystems/radio_control/sbus_common.c b/sw/airborne/subsystems/radio_control/sbus_common.c index 774eaae607..d893982bf6 100644 --- a/sw/airborne/subsystems/radio_control/sbus_common.c +++ b/sw/airborne/subsystems/radio_control/sbus_common.c @@ -56,7 +56,7 @@ void sbus_common_init(struct Sbus *sbus_p, struct uart_periph *dev) { - sbus_p->frame_available = FALSE; + sbus_p->frame_available = false; sbus_p->status = SBUS_STATUS_UNINIT; // Set UART parameters (100K, 8 bits, 2 stops, even parity) @@ -73,7 +73,7 @@ void sbus_common_init(struct Sbus *sbus_p, struct uart_periph *dev) /** Decode the raw buffer */ -static void decode_sbus_buffer(const uint8_t *src, uint16_t *dst, bool_t *available, +static void decode_sbus_buffer(const uint8_t *src, uint16_t *dst, bool *available, uint16_t *dstppm) { // reset counters diff --git a/sw/airborne/subsystems/radio_control/sbus_common.h b/sw/airborne/subsystems/radio_control/sbus_common.h index 66fc1b0c46..b47c5537b4 100644 --- a/sw/airborne/subsystems/radio_control/sbus_common.h +++ b/sw/airborne/subsystems/radio_control/sbus_common.h @@ -78,7 +78,7 @@ struct Sbus { uint16_t pulses[SBUS_NB_CHANNEL]; ///< decoded values uint16_t ppm[SBUS_NB_CHANNEL]; ///< decoded and converted values - bool_t frame_available; ///< new frame available + bool frame_available; ///< new frame available uint8_t buffer[SBUS_BUF_LENGTH]; ///< input buffer uint8_t idx; ///< input index uint8_t status; ///< decoder state machine status diff --git a/sw/airborne/subsystems/radio_control/sbus_dual.c b/sw/airborne/subsystems/radio_control/sbus_dual.c index 5d5bc1ffe2..84320c0643 100644 --- a/sw/airborne/subsystems/radio_control/sbus_dual.c +++ b/sw/airborne/subsystems/radio_control/sbus_dual.c @@ -78,7 +78,7 @@ void radio_control_impl_event(void (* _received_frame_handler)(void)) NormalizePpmIIR(sbus2.pulses, radio_control); _received_frame_handler(); } - sbus2.frame_available = FALSE; + sbus2.frame_available = false; } if (sbus1.frame_available) { radio_control.frame_cpt++; @@ -90,6 +90,6 @@ void radio_control_impl_event(void (* _received_frame_handler)(void)) NormalizePpmIIR(sbus1.pulses, radio_control); _received_frame_handler(); } - sbus1.frame_available = FALSE; + sbus1.frame_available = false; } } diff --git a/sw/airborne/subsystems/radio_control/superbitrf_rc.c b/sw/airborne/subsystems/radio_control/superbitrf_rc.c index b8bb946e89..638db5efc0 100644 --- a/sw/airborne/subsystems/radio_control/superbitrf_rc.c +++ b/sw/airborne/subsystems/radio_control/superbitrf_rc.c @@ -67,6 +67,6 @@ void radio_control_impl_event(void (* _received_frame_handler)(void)) superbitrf_rc_normalize(superbitrf.rc_values, radio_control.values, superbitrf.num_channels); _received_frame_handler(); - superbitrf.rc_frame_available = FALSE; + superbitrf.rc_frame_available = false; } } diff --git a/sw/airborne/subsystems/sensors/infrared_i2c.c b/sw/airborne/subsystems/sensors/infrared_i2c.c index 82912dff7b..ff6b29c5ef 100644 --- a/sw/airborne/subsystems/sensors/infrared_i2c.c +++ b/sw/airborne/subsystems/sensors/infrared_i2c.c @@ -46,9 +46,9 @@ #endif struct Infrared_raw ir_i2c; -bool_t ir_i2c_data_hor_available, ir_i2c_data_ver_available; +bool ir_i2c_data_hor_available, ir_i2c_data_ver_available; uint8_t ir_i2c_conf_word; -bool_t ir_i2c_conf_hor_done, ir_i2c_conf_ver_done; +bool ir_i2c_conf_hor_done, ir_i2c_conf_ver_done; // Local variables #define IR_I2C_IDLE 0 @@ -86,12 +86,12 @@ void infrared_event(void) */ void infrared_i2c_init(void) { - ir_i2c_data_hor_available = FALSE; - ir_i2c_data_ver_available = FALSE; + ir_i2c_data_hor_available = false; + ir_i2c_data_ver_available = false; ir_i2c_hor_status = IR_I2C_IDLE; ir_i2c_conf_word = IR_I2C_DEFAULT_CONF; - ir_i2c_conf_hor_done = FALSE; - ir_i2c_conf_ver_done = FALSE; + ir_i2c_conf_hor_done = false; + ir_i2c_conf_ver_done = false; irh_trans.status = I2CTransDone; irv_trans.status = I2CTransDone; @@ -110,7 +110,7 @@ void infrared_i2c_update(void) } else { // Read next values i2c_receive(&i2c0, &irh_trans, IR_HOR_I2C_ADDR, 3); - ir_i2c_data_hor_available = FALSE; + ir_i2c_data_hor_available = false; ir_i2c_hor_status = IR_I2C_READ_IR1; } } @@ -122,7 +122,7 @@ void infrared_i2c_update(void) } else { // Read next values i2c_receive(&i2c0, &irv_trans, IR_VER_I2C_ADDR, 2); - ir_i2c_data_ver_available = FALSE; + ir_i2c_data_ver_available = false; } } #endif /* SITL || HITL */ @@ -166,11 +166,11 @@ void infrared_i2c_hor_event(void) ir2 = ir2 - (IR_I2C_IR2_NEUTRAL << ir_i2c_conf_word); ir_i2c.ir2 = FilterIR(ir_i2c.ir2, ir2); // Update estimator - ir_i2c_data_hor_available = TRUE; + ir_i2c_data_hor_available = true; #ifndef IR_I2C_READ_ONLY if (ir_i2c_data_ver_available) { - ir_i2c_data_hor_available = FALSE; - ir_i2c_data_ver_available = FALSE; + ir_i2c_data_hor_available = false; + ir_i2c_data_ver_available = false; UpdateIRValue(ir_i2c); } #endif @@ -185,7 +185,7 @@ void infrared_i2c_hor_event(void) break; case IR_I2C_CONFIGURE_HOR : // End conf cycle - ir_i2c_conf_hor_done = TRUE; + ir_i2c_conf_hor_done = true; ir_i2c_hor_status = IR_I2C_IDLE; break; } @@ -201,17 +201,17 @@ void infrared_i2c_ver_event(void) int16_t ir3 = (irv_trans.buf[0] << 8) | irv_trans.buf[1]; ir3 = ir3 - (IR_I2C_TOP_NEUTRAL << ir_i2c_conf_word); ir_i2c.ir3 = FilterIR(ir_i2c.ir3, ir3); - ir_i2c_data_ver_available = TRUE; + ir_i2c_data_ver_available = true; #ifndef IR_I2C_READ_ONLY if (ir_i2c_data_hor_available) { - ir_i2c_data_hor_available = FALSE; - ir_i2c_data_ver_available = FALSE; + ir_i2c_data_hor_available = false; + ir_i2c_data_ver_available = false; UpdateIRValue(ir_i2c); } #endif } if (irv_trans.type == I2CTransTx) { - ir_i2c_conf_ver_done = TRUE; + ir_i2c_conf_ver_done = true; } #endif /* !SITL && !HITL */ } diff --git a/sw/airborne/subsystems/sensors/infrared_i2c.h b/sw/airborne/subsystems/sensors/infrared_i2c.h index 9bc2611609..92a9f237f1 100644 --- a/sw/airborne/subsystems/sensors/infrared_i2c.h +++ b/sw/airborne/subsystems/sensors/infrared_i2c.h @@ -33,9 +33,9 @@ #include "mcu_periph/i2c.h" extern struct Infrared_raw ir_i2c; -extern bool_t ir_i2c_data_hor_available, ir_i2c_data_ver_available; +extern bool ir_i2c_data_hor_available, ir_i2c_data_ver_available; extern uint8_t ir_i2c_conf_word; -extern bool_t ir_i2c_conf_hor_done, ir_i2c_conf_ver_done; +extern bool ir_i2c_conf_hor_done, ir_i2c_conf_ver_done; extern struct i2c_transaction irh_trans, irv_trans; @@ -52,8 +52,8 @@ extern void infrared_i2c_ver_event(void); #define infrared_i2cDownlink() DOWNLINK_SEND_DEBUG_IR_I2C(DefaultChannel, DefaultDevice, &ir_i2c.ir1, &ir_i2c.ir2, &ir_i2c.ir3) #define infrared_i2c_SetConfWord(_v) { \ - ir_i2c_conf_hor_done = FALSE; \ - ir_i2c_conf_ver_done = FALSE; \ + ir_i2c_conf_hor_done = false; \ + ir_i2c_conf_ver_done = false; \ ir_i2c_conf_word = _v; \ } diff --git a/sw/airborne/subsystems/settings.c b/sw/airborne/subsystems/settings.c index 3c9070c34d..00740bd3e3 100644 --- a/sw/airborne/subsystems/settings.c +++ b/sw/airborne/subsystems/settings.c @@ -35,9 +35,9 @@ struct PersistentSettings pers_settings; * Also settings still need a variable, * pure function call not possible yet. */ -bool_t settings_store_flag; +bool settings_store_flag; -bool_t settings_clear_flag; +bool settings_clear_flag; void settings_init(void) @@ -62,12 +62,12 @@ int32_t settings_store(void) persistent_settings_store(); if (!persistent_write((void *)&pers_settings, sizeof(struct PersistentSettings))) { /* persistent write was successful */ - settings_store_flag = TRUE; + settings_store_flag = true; return 0; } } #endif - settings_store_flag = FALSE; + settings_store_flag = false; return -1; } @@ -80,11 +80,11 @@ int32_t settings_clear(void) if (settings_clear_flag) { if (!persistent_clear()) { /* clearing all persistent settings was successful */ - settings_clear_flag = TRUE; + settings_clear_flag = true; return 0; } } #endif - settings_clear_flag = FALSE; + settings_clear_flag = false; return -1; } diff --git a/sw/airborne/subsystems/settings.h b/sw/airborne/subsystems/settings.h index e52e6037d9..4ab6b87957 100644 --- a/sw/airborne/subsystems/settings.h +++ b/sw/airborne/subsystems/settings.h @@ -34,8 +34,8 @@ extern void settings_init(void); extern int32_t settings_store(void); extern int32_t settings_clear(void); -extern bool_t settings_store_flag; -extern bool_t settings_clear_flag; +extern bool settings_store_flag; +extern bool settings_clear_flag; #define settings_StoreSettings(_v) { settings_store_flag = _v; settings_store(); } #define settings_ClearSettings(_v) { settings_clear_flag = _v; settings_clear(); } diff --git a/sw/airborne/test/ahrs/ahrs_on_synth.c b/sw/airborne/test/ahrs/ahrs_on_synth.c index 6c2a77ee5f..5b8db8f1fc 100644 --- a/sw/airborne/test/ahrs/ahrs_on_synth.c +++ b/sw/airborne/test/ahrs/ahrs_on_synth.c @@ -215,11 +215,11 @@ void aos_compute_sensors(void) #ifdef AHRS_GRAVITY_UPDATE_COORDINATED_TURN #if AHRS_TYPE == AHRS_TYPE_FCQ || AHRS_TYPE == AHRS_TYPE_FLQ ahrs_impl.ltp_vel_norm = FLOAT_VECT3_NORM(aos.ltp_vel); - ahrs_impl.ltp_vel_norm_valid = TRUE; + ahrs_impl.ltp_vel_norm_valid = true; #endif #if AHRS_TYPE == AHRS_TYPE_FCR2 ahrs_impl.ltp_vel_norm = FLOAT_VECT3_NORM(aos.ltp_vel); - ahrs_impl.ltp_vel_norm_valid = TRUE; + ahrs_impl.ltp_vel_norm_valid = true; #endif #if AHRS_TYPE == AHRS_TYPE_FCR ahrs_impl.gps_speed = FLOAT_VECT3_NORM(aos.ltp_vel); @@ -229,7 +229,7 @@ void aos_compute_sensors(void) #endif #if AHRS_TYPE == AHRS_TYPE_ICQ ahrs_impl.ltp_vel_norm = SPEED_BFP_OF_REAL(FLOAT_VECT3_NORM(aos.ltp_vel)); - ahrs_impl.ltp_vel_norm_valid = TRUE; + ahrs_impl.ltp_vel_norm_valid = true; #endif #endif @@ -276,7 +276,7 @@ void aos_run(void) #if AHRS_TYPE == AHRS_TYPE_FCR ahrs_impl.gps_course = aos.heading_meas; - ahrs_impl.gps_course_valid = TRUE; + ahrs_impl.gps_course_valid = true; #else if (aos.time > 10) { if (!ahrs_impl.heading_aligned) { diff --git a/sw/airborne/test/ahrs/run_ahrs_on_synth.c b/sw/airborne/test/ahrs/run_ahrs_on_synth.c index 0ef81f3c17..62573fb9da 100644 --- a/sw/airborne/test/ahrs/run_ahrs_on_synth.c +++ b/sw/airborne/test/ahrs/run_ahrs_on_synth.c @@ -37,8 +37,8 @@ int main(int argc, char **argv) static void report(void) { - int output_sensors = FALSE; - int output_pos = FALSE; + int output_sensors = false; + int output_pos = false; printf("%f ", aos.time); diff --git a/sw/airborne/test/ahrs/run_ahrs_on_synth_ivy.c b/sw/airborne/test/ahrs/run_ahrs_on_synth_ivy.c index 9e21128ded..a12185cd9e 100644 --- a/sw/airborne/test/ahrs/run_ahrs_on_synth_ivy.c +++ b/sw/airborne/test/ahrs/run_ahrs_on_synth_ivy.c @@ -73,7 +73,7 @@ gboolean timeout_callback(gpointer data) DegOfRad(aos.gyro_bias.q), DegOfRad(aos.gyro_bias.r)); - return TRUE; + return true; } diff --git a/sw/airborne/test/peripherals/test_lis302dl_spi.c b/sw/airborne/test/peripherals/test_lis302dl_spi.c index a87f2c2ee2..22c2418b63 100644 --- a/sw/airborne/test/peripherals/test_lis302dl_spi.c +++ b/sw/airborne/test/peripherals/test_lis302dl_spi.c @@ -98,7 +98,7 @@ static inline void main_event_task(void) if (lis302.data_available) { struct Int32Vect3 accel; VECT3_COPY(accel, lis302.data.vect); - lis302.data_available = FALSE; + lis302.data_available = false; RunOnceEvery(10, { DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, DefaultDevice, diff --git a/sw/airborne/test/test_algebra.c b/sw/airborne/test/test_algebra.c index a5ff10c96a..5a44973ef3 100644 --- a/sw/airborne/test/test_algebra.c +++ b/sw/airborne/test/test_algebra.c @@ -38,7 +38,7 @@ float test_rmat_of_eulers_312(void); float test_quat(void); float test_quat2(void); -float test_INT32_QUAT_OF_RMAT(struct FloatEulers *eul, bool_t display); +float test_INT32_QUAT_OF_RMAT(struct FloatEulers *eul, bool display); void test_of_axis_angle(void); @@ -841,7 +841,7 @@ float test_quat2(void) } -float test_INT32_QUAT_OF_RMAT(struct FloatEulers *eul_f, bool_t display) +float test_INT32_QUAT_OF_RMAT(struct FloatEulers *eul_f, bool display) { struct Int32Eulers eul321_i; EULERS_BFP_OF_REAL(eul321_i, (*eul_f)); diff --git a/sw/airborne/test/test_manual.c b/sw/airborne/test/test_manual.c index 3ae7ecd4e1..e241d6a8d3 100644 --- a/sw/airborne/test/test_manual.c +++ b/sw/airborne/test/test_manual.c @@ -54,7 +54,7 @@ static void on_rc_frame(void); tid_t main_periodic_tid; ///< id for main_periodic() timer tid_t radio_control_tid; ///< id for radio_control_periodic_task() timer -bool_t autopilot_motors_on; +bool autopilot_motors_on; int main(void) { @@ -91,7 +91,7 @@ static inline void main_init(void) // just to make it usable in a standard rotorcraft airframe file // with // in the command_laws section - autopilot_motors_on = TRUE; + autopilot_motors_on = true; } static inline void main_periodic(void) diff --git a/sw/ext/pprzlink b/sw/ext/pprzlink index 2b246f6480..c323e3cce1 160000 --- a/sw/ext/pprzlink +++ b/sw/ext/pprzlink @@ -1 +1 @@ -Subproject commit 2b246f6480ac06bb6fc58b2a7947a59cec360a04 +Subproject commit c323e3cce1adf72e5f495417a3ee7f73ab2eae91 diff --git a/sw/ground_segment/misc/natnet2ivy.c b/sw/ground_segment/misc/natnet2ivy.c index f4e89829e9..2e37ca4833 100644 --- a/sw/ground_segment/misc/natnet2ivy.c +++ b/sw/ground_segment/misc/natnet2ivy.c @@ -60,8 +60,8 @@ uint8_t natnet_minor = 7; /** Logging */ FILE *fp; char *nameOfLogfile = "natnet_log.dat"; -bool_t log_exists = 0; -bool_t must_log = 0; +bool log_exists = 0; +bool must_log = 0; /** Ivy Bus default */ #ifdef __APPLE__ diff --git a/sw/ground_segment/misc/sbp2ivy.c b/sw/ground_segment/misc/sbp2ivy.c index cbb5b152af..bdb256c80e 100644 --- a/sw/ground_segment/misc/sbp2ivy.c +++ b/sw/ground_segment/misc/sbp2ivy.c @@ -55,7 +55,7 @@ char *serial_device = "/dev/ttyUSB0"; uint32_t serial_baud = B115200; /** Debugging options */ -bool_t verbose = FALSE; +bool verbose = FALSE; #define printf_debug if(verbose == TRUE) printf /** Ivy Bus default */ diff --git a/sw/ground_segment/misc/sbs2ivy.c b/sw/ground_segment/misc/sbs2ivy.c index 1632c875b2..14eff0ee48 100644 --- a/sw/ground_segment/misc/sbs2ivy.c +++ b/sw/ground_segment/misc/sbs2ivy.c @@ -503,7 +503,7 @@ gint delete_event(GtkWidget *widget, } -static bool_t parse_options(int argc, char **argv, struct Opts *opts) +static bool parse_options(int argc, char **argv, struct Opts *opts) { opts->ac_id = 0; opts->host = "localhost"; diff --git a/sw/include/std.h b/sw/include/std.h index a85cd71dab..db0e984b7a 100644 --- a/sw/include/std.h +++ b/sw/include/std.h @@ -38,10 +38,10 @@ #define STRINGIFY(s) _STRINGIFY(s) #ifndef FALSE -#define FALSE 0 +#define FALSE false #endif #ifndef TRUE -#define TRUE (!FALSE) +#define TRUE true #endif #ifndef NULL @@ -52,17 +52,6 @@ #endif #endif -/* Boolean values */ -#ifdef RTOS_IS_CHIBIOS -/* make bool_t an alias to bool instead of uint8_t dor chibios port - probably a bad idea since sizeof(bool) is 4, and this will break - message coding/decoding **** FIX NEEDEED **** -*/ -typedef bool bool_t; -#else -typedef uint8_t bool_t; -#endif - /* Unit (void) values */ typedef uint8_t unit_t; @@ -224,7 +213,7 @@ typedef uint8_t unit_t; } \ } -static inline bool_t str_equal(const char * a, const char * b) { +static inline bool str_equal(const char * a, const char * b) { int i = 0; while (!(a[i] == 0 && b[i] == 0)) { if (a[i] != b[i]) return FALSE; diff --git a/sw/lib/ocaml/gen_common.ml b/sw/lib/ocaml/gen_common.ml index dfa1c99a5f..318af5bc97 100644 --- a/sw/lib/ocaml/gen_common.ml +++ b/sw/lib/ocaml/gen_common.ml @@ -130,14 +130,23 @@ let get_module = fun m global_targets -> * Test if [target] is allowed [targets] * Return true if target is allowed, false if target is not in list or rejected (prefixed by !) *) let test_targets = fun target targets -> - List.exists (fun t -> - let l = String.length t in - (* test for inverted selection *) - if l > 0 && t.[0] = '!' then - not ((String.sub t 1 (l-1)) = target) - else - t = target - ) targets + (* test for inverted selection + * FIXME: only the first target should have the invert sign ('!') + *) + let inv = + try + let hd = List.hd targets in + if String.get hd 0 = '!' then not + else (fun x -> x) + with _ -> (fun x -> x) + in + (* return inverted result if needed *) + inv (List.exists (fun t -> + let l = String.length t in + (* remove first char if invert sign *) + let t = if l > 0 && t.[0] = '!' then String.sub t 1 (l-1) else t in + t = target + ) targets) (** [get_modules_of_airframe xml] * Returns a list of module configuration from airframe file *) @@ -250,7 +259,7 @@ let get_modules_name = fun xml -> * Returns the list of modules directories *) let get_modules_dir = fun modules -> let dir = List.map (fun m -> try Xml.attrib m.xml "dir" with _ -> ExtXml.attrib m.xml "name") modules in - singletonize (List.sort compare dir) + singletonize dir (** [is_element_unselected target modules file] * Returns True if [target] is supported in the element [file] and, if it is diff --git a/sw/misc/rctx/main_rctx.c b/sw/misc/rctx/main_rctx.c index 9ad792c5b3..175d174bfc 100644 --- a/sw/misc/rctx/main_rctx.c +++ b/sw/misc/rctx/main_rctx.c @@ -108,7 +108,7 @@ void periodic_task_rctx( void ); #define IdOfMsg(x) (x[1]) uint8_t dl_buffer[MSG_SIZE] __attribute__ ((aligned)); -bool_t dl_msg_available; +bool dl_msg_available; uint16_t datalink_time; void dl_parse_msg(void) { diff --git a/sw/simulator/nps/nps_autopilot.h b/sw/simulator/nps/nps_autopilot.h index 0bbf425317..9957524e42 100644 --- a/sw/simulator/nps/nps_autopilot.h +++ b/sw/simulator/nps/nps_autopilot.h @@ -26,13 +26,13 @@ struct NpsAutopilot { double commands[NPS_COMMANDS_NB]; - bool_t launch; + bool launch; }; extern struct NpsAutopilot autopilot; -extern bool_t nps_bypass_ahrs; -extern bool_t nps_bypass_ins; +extern bool nps_bypass_ahrs; +extern bool nps_bypass_ins; extern void sim_overwrite_ahrs(void); extern void sim_overwrite_ins(void); diff --git a/sw/simulator/nps/nps_autopilot_fixedwing.c b/sw/simulator/nps/nps_autopilot_fixedwing.c index ce874d96b3..c1c0269713 100644 --- a/sw/simulator/nps/nps_autopilot_fixedwing.c +++ b/sw/simulator/nps/nps_autopilot_fixedwing.c @@ -56,8 +56,8 @@ #include "subsystems/datalink/datalink.h" struct NpsAutopilot autopilot; -bool_t nps_bypass_ahrs; -bool_t nps_bypass_ins; +bool nps_bypass_ahrs; +bool nps_bypass_ins; #ifndef NPS_BYPASS_AHRS #define NPS_BYPASS_AHRS FALSE diff --git a/sw/simulator/nps/nps_autopilot_rotorcraft.c b/sw/simulator/nps/nps_autopilot_rotorcraft.c index 9df70a48a7..73d4e414bd 100644 --- a/sw/simulator/nps/nps_autopilot_rotorcraft.c +++ b/sw/simulator/nps/nps_autopilot_rotorcraft.c @@ -46,8 +46,8 @@ #include "subsystems/datalink/datalink.h" struct NpsAutopilot autopilot; -bool_t nps_bypass_ahrs; -bool_t nps_bypass_ins; +bool nps_bypass_ahrs; +bool nps_bypass_ins; #ifndef NPS_BYPASS_AHRS #define NPS_BYPASS_AHRS FALSE diff --git a/sw/simulator/nps/nps_fdm.h b/sw/simulator/nps/nps_fdm.h index f67b7c3236..f76b249450 100644 --- a/sw/simulator/nps/nps_fdm.h +++ b/sw/simulator/nps/nps_fdm.h @@ -46,7 +46,7 @@ struct NpsFdm { double time; double init_dt; double curr_dt; - bool_t on_ground; + bool on_ground; int nan_count; /* position */ @@ -130,7 +130,7 @@ struct NpsFdm { extern struct NpsFdm fdm; extern void nps_fdm_init(double dt); -extern void nps_fdm_run_step(bool_t launch, double *commands, int commands_nb); +extern void nps_fdm_run_step(bool launch, double *commands, int commands_nb); extern void nps_fdm_set_wind(double speed, double dir); extern void nps_fdm_set_wind_ned(double wind_north, double wind_east, double wind_down); extern void nps_fdm_set_turbulence(double wind_speed, int turbulence_severity); diff --git a/sw/simulator/nps/nps_fdm_crrcsim.c b/sw/simulator/nps/nps_fdm_crrcsim.c index 7968e9f586..a77def5fcc 100644 --- a/sw/simulator/nps/nps_fdm_crrcsim.c +++ b/sw/simulator/nps/nps_fdm_crrcsim.c @@ -147,7 +147,7 @@ void nps_fdm_init(double dt) send_servo_cmd(&crrcsim, zero); } -void nps_fdm_run_step(bool_t launch __attribute__((unused)), double *commands, int commands_nb) +void nps_fdm_run_step(bool launch __attribute__((unused)), double *commands, int commands_nb) { // read state if (get_msg(&crrcsim, crrcsim.data_buffer) <= 0) { diff --git a/sw/simulator/nps/nps_fdm_jsbsim.cpp b/sw/simulator/nps/nps_fdm_jsbsim.cpp index 3b532aae6c..aab90f39b0 100644 --- a/sw/simulator/nps/nps_fdm_jsbsim.cpp +++ b/sw/simulator/nps/nps_fdm_jsbsim.cpp @@ -188,11 +188,11 @@ void nps_fdm_init(double dt) } -void nps_fdm_run_step(bool_t launch __attribute__((unused)), double *commands, int commands_nb) +void nps_fdm_run_step(bool launch __attribute__((unused)), double *commands, int commands_nb) { #ifdef NPS_JSBSIM_LAUNCHSPEED - static bool_t already_launched = FALSE; + static bool already_launched = FALSE; if (launch && !already_launched) { printf("Launching with speed of %.1f m/s!\n", (float)NPS_JSBSIM_LAUNCHSPEED); diff --git a/sw/simulator/nps/nps_main.c b/sw/simulator/nps/nps_main.c index ad1c5f2391..6b01a84499 100644 --- a/sw/simulator/nps/nps_main.c +++ b/sw/simulator/nps/nps_main.c @@ -58,7 +58,7 @@ static struct { char *ivy_bus; } nps_main; -static bool_t nps_main_parse_options(int argc, char **argv); +static bool nps_main_parse_options(int argc, char **argv); static void nps_main_init(void); static void nps_main_display(void); static void nps_main_run_sim_step(void); @@ -294,7 +294,7 @@ static gboolean nps_main_periodic(gpointer data __attribute__((unused))) } -static bool_t nps_main_parse_options(int argc, char **argv) +static bool nps_main_parse_options(int argc, char **argv) { nps_main.fg_host = NULL; diff --git a/sw/simulator/nps/nps_radio_control.c b/sw/simulator/nps/nps_radio_control.c index fa35ee97b4..cfe1398739 100644 --- a/sw/simulator/nps/nps_radio_control.c +++ b/sw/simulator/nps/nps_radio_control.c @@ -74,7 +74,7 @@ static rc_script scripts[] = { #define RADIO_CONTROL_TAKEOFF_TIME 8 -bool_t nps_radio_control_available(double time) +bool nps_radio_control_available(double time) { if (time >= nps_radio_control.next_update) { nps_radio_control.next_update += RADIO_CONTROL_DT; diff --git a/sw/simulator/nps/nps_radio_control.h b/sw/simulator/nps/nps_radio_control.h index 2fd1663dc7..b28e02ad13 100644 --- a/sw/simulator/nps/nps_radio_control.h +++ b/sw/simulator/nps/nps_radio_control.h @@ -36,11 +36,11 @@ enum NpsRadioControlType { extern void nps_radio_control_init(enum NpsRadioControlType type, int num_script, char *js_dev); -extern bool_t nps_radio_control_available(double time); +extern bool nps_radio_control_available(double time); struct NpsRadioControl { double next_update; - bool_t valid; + bool valid; double throttle; double roll; double pitch; diff --git a/sw/simulator/nps/nps_sensor_accel.h b/sw/simulator/nps/nps_sensor_accel.h index 4f555b1d6d..433883650b 100644 --- a/sw/simulator/nps/nps_sensor_accel.h +++ b/sw/simulator/nps/nps_sensor_accel.h @@ -15,7 +15,7 @@ struct NpsSensorAccel { struct DoubleVect3 noise_std_dev; struct DoubleVect3 bias; double next_update; - bool_t data_available; + bool data_available; }; diff --git a/sw/simulator/nps/nps_sensor_airspeed.h b/sw/simulator/nps/nps_sensor_airspeed.h index b849f627d0..50f721355b 100644 --- a/sw/simulator/nps/nps_sensor_airspeed.h +++ b/sw/simulator/nps/nps_sensor_airspeed.h @@ -39,7 +39,7 @@ struct NpsSensorAirspeed { double offset; ///< offset in meters/second double noise_std_dev; ///< noise standard deviation double next_update; - bool_t data_available; + bool data_available; }; diff --git a/sw/simulator/nps/nps_sensor_baro.h b/sw/simulator/nps/nps_sensor_baro.h index a781adb20f..6a4a28aa83 100644 --- a/sw/simulator/nps/nps_sensor_baro.h +++ b/sw/simulator/nps/nps_sensor_baro.h @@ -10,7 +10,7 @@ struct NpsSensorBaro { double value; ///< pressure in Pascal double noise_std_dev; ///< noise standard deviation double next_update; - bool_t data_available; + bool data_available; }; diff --git a/sw/simulator/nps/nps_sensor_gps.h b/sw/simulator/nps/nps_sensor_gps.h index 598bd30830..62083638ca 100644 --- a/sw/simulator/nps/nps_sensor_gps.h +++ b/sw/simulator/nps/nps_sensor_gps.h @@ -27,7 +27,7 @@ struct NpsSensorGps { GSList *lla_history; GSList *speed_history; double next_update; - bool_t data_available; + bool data_available; }; diff --git a/sw/simulator/nps/nps_sensor_gyro.h b/sw/simulator/nps/nps_sensor_gyro.h index ddb33703da..02ab18365d 100644 --- a/sw/simulator/nps/nps_sensor_gyro.h +++ b/sw/simulator/nps/nps_sensor_gyro.h @@ -17,7 +17,7 @@ struct NpsSensorGyro { struct DoubleVect3 bias_random_walk_std_dev; struct DoubleVect3 bias_random_walk_value; double next_update; - bool_t data_available; + bool data_available; }; diff --git a/sw/simulator/nps/nps_sensor_mag.h b/sw/simulator/nps/nps_sensor_mag.h index d1cf6f1356..53e201f813 100644 --- a/sw/simulator/nps/nps_sensor_mag.h +++ b/sw/simulator/nps/nps_sensor_mag.h @@ -15,7 +15,7 @@ struct NpsSensorMag { struct DoubleVect3 noise_std_dev; struct DoubleRMat imu_to_sensor_rmat; double next_update; - bool_t data_available; + bool data_available; }; diff --git a/sw/simulator/nps/nps_sensor_sonar.h b/sw/simulator/nps/nps_sensor_sonar.h index cdae3ae3e5..2ae2fb7e86 100644 --- a/sw/simulator/nps/nps_sensor_sonar.h +++ b/sw/simulator/nps/nps_sensor_sonar.h @@ -39,7 +39,7 @@ struct NpsSensorSonar { double offset; ///< offset in meters double noise_std_dev; ///< noise standard deviation double next_update; - bool_t data_available; + bool data_available; }; diff --git a/sw/simulator/nps/nps_sensor_temperature.h b/sw/simulator/nps/nps_sensor_temperature.h index d640c8e159..aedf4a251f 100644 --- a/sw/simulator/nps/nps_sensor_temperature.h +++ b/sw/simulator/nps/nps_sensor_temperature.h @@ -10,7 +10,7 @@ struct NpsSensorTemperature { double value; ///< temperature in degrees Celcius double noise_std_dev; ///< noise standard deviation double next_update; - bool_t data_available; + bool data_available; }; diff --git a/sw/simulator/nps/nps_sensors.c b/sw/simulator/nps/nps_sensors.c index f444cedee0..1ee80a3ede 100644 --- a/sw/simulator/nps/nps_sensors.c +++ b/sw/simulator/nps/nps_sensors.c @@ -37,7 +37,7 @@ void nps_sensors_run_step(double time) } -bool_t nps_sensors_gyro_available(void) +bool nps_sensors_gyro_available(void) { if (sensors.gyro.data_available) { sensors.gyro.data_available = FALSE; @@ -46,7 +46,7 @@ bool_t nps_sensors_gyro_available(void) return FALSE; } -bool_t nps_sensors_mag_available(void) +bool nps_sensors_mag_available(void) { if (sensors.mag.data_available) { sensors.mag.data_available = FALSE; @@ -55,7 +55,7 @@ bool_t nps_sensors_mag_available(void) return FALSE; } -bool_t nps_sensors_baro_available(void) +bool nps_sensors_baro_available(void) { if (sensors.baro.data_available) { sensors.baro.data_available = FALSE; @@ -64,7 +64,7 @@ bool_t nps_sensors_baro_available(void) return FALSE; } -bool_t nps_sensors_gps_available(void) +bool nps_sensors_gps_available(void) { if (sensors.gps.data_available) { sensors.gps.data_available = FALSE; @@ -73,7 +73,7 @@ bool_t nps_sensors_gps_available(void) return FALSE; } -bool_t nps_sensors_sonar_available(void) +bool nps_sensors_sonar_available(void) { if (sensors.sonar.data_available) { sensors.sonar.data_available = FALSE; @@ -82,7 +82,7 @@ bool_t nps_sensors_sonar_available(void) return FALSE; } -bool_t nps_sensors_airspeed_available(void) +bool nps_sensors_airspeed_available(void) { if (sensors.airspeed.data_available) { sensors.airspeed.data_available = FALSE; @@ -91,7 +91,7 @@ bool_t nps_sensors_airspeed_available(void) return FALSE; } -bool_t nps_sensors_temperature_available(void) +bool nps_sensors_temperature_available(void) { if (sensors.temp.data_available) { sensors.temp.data_available = FALSE; diff --git a/sw/simulator/nps/nps_sensors.h b/sw/simulator/nps/nps_sensors.h index decc63e907..4f67a864c6 100644 --- a/sw/simulator/nps/nps_sensors.h +++ b/sw/simulator/nps/nps_sensors.h @@ -28,13 +28,13 @@ extern struct NpsSensors sensors; extern void nps_sensors_init(double time); extern void nps_sensors_run_step(double time); -extern bool_t nps_sensors_gyro_available(); -extern bool_t nps_sensors_mag_available(); -extern bool_t nps_sensors_baro_available(); -extern bool_t nps_sensors_gps_available(); -extern bool_t nps_sensors_sonar_available(); -extern bool_t nps_sensors_airspeed_available(); -extern bool_t nps_sensors_temperature_available(); +extern bool nps_sensors_gyro_available(); +extern bool nps_sensors_mag_available(); +extern bool nps_sensors_baro_available(); +extern bool nps_sensors_gps_available(); +extern bool nps_sensors_sonar_available(); +extern bool nps_sensors_airspeed_available(); +extern bool nps_sensors_temperature_available(); #endif /* NPS_SENSORS_H */ diff --git a/sw/tools/generators/gen_aircraft.ml b/sw/tools/generators/gen_aircraft.ml index 699ff17d43..a21e008f44 100644 --- a/sw/tools/generators/gen_aircraft.ml +++ b/sw/tools/generators/gen_aircraft.ml @@ -103,7 +103,6 @@ let file_xml2mk = fun f ?(arch = false) dir_name target xml -> fprintf f fmt target dir_name name let module_xml2mk = fun f target firmware m -> - if not (List.mem target m.targets) then () else let name = ExtXml.attrib m.xml "name" in let dir = try Xml.attrib m.xml "dir" with Xml.No_attribute _ -> name in let dir_name = String.uppercase dir ^ "_DIR" in diff --git a/sw/tools/generators/gen_flight_plan.ml b/sw/tools/generators/gen_flight_plan.ml index f48841f4d5..486f4e2a5e 100644 --- a/sw/tools/generators/gen_flight_plan.ml +++ b/sw/tools/generators/gen_flight_plan.ml @@ -747,7 +747,7 @@ let print_inside_polygon = fun pts -> let print_inside_polygon_global = fun pts -> lprintf "uint8_t i, j;\n"; - lprintf "bool_t c = FALSE;\n"; + lprintf "bool c = false;\n"; (* build array of wp id *) let (ids, _) = List.split pts in lprintf "const uint8_t nb_pts = %d;\n" (List.length pts); @@ -769,7 +769,7 @@ let print_inside_polygon_global = fun pts -> type sector_type = StaticSector | DynamicSector let print_inside_sector = fun t (s, pts) -> - lprintf "static inline bool_t %s(float _x, float _y) {\n" (inside_function s); + lprintf "static inline bool %s(float _x, float _y) {\n" (inside_function s); right (); begin match t with diff --git a/sw/tools/parrot/bebop.py b/sw/tools/parrot/bebop.py index 13923e32f7..d28fc0a9a5 100755 --- a/sw/tools/parrot/bebop.py +++ b/sw/tools/parrot/bebop.py @@ -57,7 +57,7 @@ def bebop_status(): # Parse the arguments -parser = argparse.ArgumentParser(description='Bebop python helper. Use bebop.py -h for help') +parser = argparse.ArgumentParser(description='Bebop helper tool. Use bebop.py -h for help') parser.add_argument('--host', metavar='HOST', default='192.168.42.1', help='the ip address of bebop') subparsers = parser.add_subparsers(title='Command to execute', metavar='command', dest='command') @@ -131,7 +131,7 @@ elif args.command == 'upload_file_and_run': sleep(0.5) parrot_utils.execute_command(tn, "chmod 777 /data/ftp/" + args.folder + "/" + f[1]) parrot_utils.execute_command(tn, "/data/ftp/" + args.folder + "/" + f[1] + " > /dev/null 2>&1 &") - print("#pragma message: Upload and Start of ap.elf to Bebop Succes!") + print("#pragma message: Upload and Start of ap.elf to Bebop succesful !") elif args.command == 'upload_file': # Split filename and path @@ -140,7 +140,7 @@ elif args.command == 'upload_file': parrot_utils.execute_command(tn, "mkdir -p /data/ftp/" + args.folder) print('Uploading \'' + f[1] + "\' from " + f[0] + " to /data/ftp/" + args.folder) parrot_utils.uploadfile(ftp, args.folder + "/" + f[1], file(args.file, "rb")) - print("#pragma message: Upload of " + f[1] + " to Bebop Succes!") + print("#pragma message: Upload of " + f[1] + " to Bebop succesful !") elif args.command == 'download_file': # Split filename and path diff --git a/sw/tools/parrot/parrot_utils.py b/sw/tools/parrot/parrot_utils.py index 8c450ca64f..4f4ff5a068 100644 --- a/sw/tools/parrot/parrot_utils.py +++ b/sw/tools/parrot/parrot_utils.py @@ -79,10 +79,10 @@ def uploadfile(ftp, filename, content): try: ftp.storbinary("STOR " + filename, content) except ftplib.error_temp: - print("FTP UPLOAD ERROR: Uploading FAILED: Probably your ARDrone memory is full.") + print("FTP UPLOAD ERROR: Uploading FAILED: Probably your drone onboard storage memory is full. Remove old JPG or other data?") sys.exit() except: - print("FTP UPLOAD ERROR: Maybe your ARDrone memory is full?", sys.exc_info()[0]) + print("FTP UPLOAD ERROR: Maybe your drone onboard storage memory is full? Remove old JPG or other data?)", sys.exc_info()[0]) sys.exit()