flight_ctrl: set stop state once so debugging is possible

Makefile

@@ -207,6 +207,7 @@ CFLAGS += -ffunction-sections
 CFLAGS += -fdata-sections
 CFLAGS += -Wall
 CFLAGS += -Wstrict-prototypes
+CFLAGS += -Wsign-compare
 #CFLAGS += -Wextra
 #CFLAGS += -Wpointer-arith
 #CFLAGS += -Winline

Source/attitude.c

@@ -1,5 +1,6 @@
 #include "attitude.h"
 #include "util.h"
+#include "sensors.h"
 #include <stdio.h>
 
 struct dcm dcm = {
@@ -63,13 +64,13 @@ static mat3f dcm_integrate(mat3f A, vec3f w, float dt)
 }
 
 
-extern void dcm_update(vec3f gyro, vec3f acc, float dt)
+extern void dcm_update(struct sensor_data *sensor, float dt)
 {
     dcm.offset_p = vec3f_zero;
 
     // Apply accelerometer correction
     //
-    vec3f down  = vec3f_matmul(dcm.matrix, vec3f_norm(acc));
+    vec3f down  = vec3f_matmul(dcm.matrix, vec3f_norm(sensor->acc));
     vec3f error = vec3f_cross(down, dcm.down_ref);
 
     dcm.debug = error;
@@ -81,7 +82,7 @@ extern void dcm_update(vec3f gyro, vec3f acc, float dt)
 
     // Calculate drift-corrected roll, pitch and yaw angles
     //
-    dcm.omega = gyro;
+    dcm.omega = sensor->gyro;
     dcm.omega = vec3f_add(dcm.omega, dcm.offset_p);
     dcm.omega = vec3f_add(dcm.omega, dcm.offset_i);
 
@@ -103,12 +104,13 @@ void  dcm_reset(void)
 
 // -----
 #include <string.h>
+#include "command.h"
 
 
-void cmd_dcm_show(void)
+static void cmd_dcm_show(void)
 {
     struct dcm d;
-    ATOMIC_COPY(&d, &dcm, sizeof(d));
+    memcpy(&d, &dcm, sizeof(d));
 
     printf("                x/roll    y/pitch      z/yaw\n");
     printf("down_ref  : %10.4f %10.4f %10.4f\n", d.down_ref.x, d.down_ref.y, d.down_ref.z);
@@ -126,3 +128,5 @@ void cmd_dcm_show(void)
     printf("\n");
     printf("debug     : %10.4f %10.4f %10.4f\n", d.debug.x, d.debug.y, d.debug.z);
 }
+
+SHELL_CMD(dcm_show, (cmdfunc_t)cmd_dcm_show, "show dcm values")

Source/attitude.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include "matrix3f.h"
+#include "sensors.h"
 
 struct dcm {
     mat3f matrix;       ///< current direction cosine matrix
@@ -23,8 +24,5 @@ struct dcm {
 
 extern struct dcm dcm;
 
-extern void dcm_update(vec3f gyro, vec3f acc, float dt);
+extern void dcm_update(struct sensor_data *sensor, float dt);
 extern void dcm_reset(void);
-
-extern void cmd_dcm_show(void);
-

Source/dma_io_driver.c

@@ -42,7 +42,7 @@ void DMA2_Stream7_IRQHandler(void)
     uint16_t tim7_cnt = TIM7->CNT;
     uint32_t hisr = DMA2->HISR;
 
-    const int len_2 = DMA_IO_RX_SIZE / 2;
+    const unsigned int len_2 = DMA_IO_RX_SIZE / 2;
     const uint8_t mask = ~dma_tx_ws2812_bits;
 
     if (hisr & DMA_HISR_HTIF7) {

Source/dma_io_servo_in.c

@@ -20,7 +20,7 @@ static void edge(uint32_t t, int ch, int rising)
 }
 
 
-void dma_io_decode_servo(const void *dma_buf, int dma_len, uint8_t mask)
+void dma_io_decode_servo(const void *dma_buf, unsigned int dma_len, uint8_t mask)
 {
     // TODO: filter edges
     // TODO: detect timeouts
@@ -31,12 +31,12 @@ void dma_io_decode_servo(const void *dma_buf, int dma_len, uint8_t mask)
     const uint32_t *src = dma_buf;
     uint32_t  mask32 = (mask<<24) | (mask<<16) | (mask<<8) | mask;
 
-    for (int i=0; i < dma_len / 4; i++) {
+    for (unsigned int i=0; i < dma_len / 4; i++) {
         uint32_t state = *src++ & mask32;
         uint32_t diff  = last_state ^ state;
 
         if (diff) {
-            for (int j=0; j<32; j++) {
+            for (unsigned int j=0; j<32; j++) {
                 if (diff & (1UL << j))
                     edge(t + (j>>3), j & 7, state & (1UL << j));
             }

Source/dma_io_servo_in.h

@@ -12,7 +12,6 @@ extern struct dma_io_servo_in dma_io_servo_in[8];
 
 
 void dma_io_decode_servo(
-    const void *dma_buf, int dma_len, uint8_t mask
+    const void *dma_buf, unsigned int dma_len, uint8_t mask
 
 );
-

Source/dma_io_servo_out.h

@@ -3,7 +3,6 @@
 #include <stdint.h>
 
 void dma_io_set_servo(
-    void *dma_buf, int dma_len, uint8_t mask,
+    void *dma_buf, unsigned int dma_len, uint8_t mask,
     int t_pulse
 );
-

Source/filter.c

@@ -142,7 +142,7 @@ void avg_reset(struct avg_filter *f, int32_t x)
 {
     f->index = 0;
     f->acc   = x * f->size;
-    for (int i=0; i<f->size; i++)
+    for (uint32_t i=0; i<f->size; i++)
         f->buf[i] = x;
 }