Some Doxygen work and comments.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@16 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/sys/pios.c

@@ -65,13 +65,13 @@ int main()
 }	            
 
 
-/*******************************************************************************
+/**
 * Function Name  : PiosMainTask
 * Description    : PIOS
 * Input          : None
 * Output         : None
 * Return         : None
-*******************************************************************************/
+*/
 void PiosMainTask( void *pvParameters )
 {
 
@@ -80,13 +80,13 @@ void PiosMainTask( void *pvParameters )
         }
 }
 
-/*******************************************************************************
+/**
 * Function Name  : SensorTask
 * Description    : PIOS
 * Input          : None
 * Output         : None
 * Return         : None
-*******************************************************************************/
+*/
 void SensorTask( void *pvParameters )
 {
 

flight/sys/pios.h

@@ -30,7 +30,7 @@
 #define PIOS_H
 
 
-/* C Header Files */
+/* C Lib Includes */
 #include <stdlib.h>
 #include <stdio.h>
 
@@ -38,14 +38,14 @@
 #include <stm32f10x.h>
 #include <stm32f10x_conf.h>
 
-/* FatFS Functions */
+/* FatFS Includes */
 #include <ff.h>
 #include <diskio.h>
 
-/* minIni Functions */
+/* minIni Includes */
 #include <minIni.h>
 
-/* Include PIOS Hardware Header Files */
+/* PIOS Hardware Includes */
 #include <pios_board.h>
 #include <pios_sys.h>
 #include <pios_settings.h>

flight/sys/pios_board.h

@@ -45,6 +45,7 @@
 /* Channel 6  - 					*/
 /* Channel 7  - 					*/
 /* Channel 8  - 					*/
+
 /* Channel 9  - 					*/
 /* Channel 10 - 					*/
 /* Channel 11 - 					*/
@@ -53,18 +54,18 @@
 //------------------------
 // Leds Definition   
 //------------------------
-#define LED1_GPIO_PORT      GPIOC
+#define LED1_GPIO_PORT			GPIOC
-#define LED1_GPIO_PIN		GPIO_Pin_12
+#define LED1_GPIO_PIN			GPIO_Pin_12
-#define LED1_GPIO_CLK		RCC_APB2Periph_GPIOC
+#define LED1_GPIO_CLK			RCC_APB2Periph_GPIOC
-#define LED2_GPIO_PORT      GPIOC
+#define LED2_GPIO_PORT			GPIOC
-#define LED2_GPIO_PIN		GPIO_Pin_13
+#define LED2_GPIO_PIN			GPIO_Pin_13
-#define LED2_GPIO_CLK		RCC_APB2Periph_GPIOC
+#define LED2_GPIO_CLK			RCC_APB2Periph_GPIOC
 #define NUM_LED				2
 
 //------------------------
 // I2C   
 //------------------------
-#define I2C_GPIO_PORT		GPIOB
+#define I2C_GPIO_PORT			GPIOB
 #define I2C_SDA_PIN			GPIO_Pin_11
 #define I2C_SCL_PIN			GPIO_Pin_10
 
@@ -72,143 +73,143 @@
 // Onboard Pressure sensor   
 //------------------------
 #define HP03D_XCLR_GPIO_PORT		GPIOC
-#define HP03D_XCLR_GPIO_PIN			GPIO_Pin_15
+#define HP03D_XCLR_GPIO_PIN		GPIO_Pin_15
 #define HP03D_MCLK_GPIO_PORT		GPIOA
-#define HP03D_MCLK_GPIO_PIN			GPIO_Pin_1
+#define HP03D_MCLK_GPIO_PIN		GPIO_Pin_1
 
 //-------------------------
 // GPS UART 
 //-------------------------
-#define GPS_UART					USART2
+#define GPS_UART			USART2
-#define GPS_BAUD					57600
+#define GPS_BAUD			57600
-#define GPS_GPIO_PORT				GPIOA
+#define GPS_GPIO_PORT			GPIOA
-#define GPS_RX_PIN					GPIO_Pin_3
+#define GPS_RX_PIN			GPIO_Pin_3
-#define GPS_TX_PIN					GPIO_Pin_2
+#define GPS_TX_PIN			GPIO_Pin_2
-#define GPS_REMAP_FUNC				{ }
+#define GPS_REMAP_FUNC			{ }
-#define GPS_IRQ_CHANNEL				USART2_IRQn
+#define GPS_IRQ_CHANNEL			USART2_IRQn
-#define GPS_IRQHANDLER_FUNC			void USART2_IRQHandler(void)
+#define GPS_IRQHANDLER_FUNC		void USART2_IRQHandler(void)
-#define GPS_CLK_FUNC				RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE)
+#define GPS_CLK_FUNC			RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE)
-#define GPS_NVIC_PRIO				IRQ_PRIO_HIGHEST
+#define GPS_NVIC_PRIO			IRQ_PRIO_HIGHEST
 
 //-------------------------
 // Telemetry radio UART 
 //-------------------------
-#define TELEM_UART        			USART3
+#define TELEM_UART        		USART3
-#define TELEM_BAUD         			115200
+#define TELEM_BAUD         		115200
 #define TELEM_GPIO_PORT         	GPIOC
-#define TELEM_RX_PIN      			GPIO_Pin_11
+#define TELEM_RX_PIN      		GPIO_Pin_11
-#define TELEM_TX_PIN      			GPIO_Pin_10
+#define TELEM_TX_PIN      		GPIO_Pin_10
-#define TELEM_REMAP_FUNC			{ GPIO_PinRemapConfig(GPIO_PartialRemap_USART3, ENABLE); }
+#define TELEM_REMAP_FUNC		{ GPIO_PinRemapConfig(GPIO_PartialRemap_USART3, ENABLE); }
-#define TELEM_IRQ_CHANNEL			USART3_IRQn
+#define TELEM_IRQ_CHANNEL		USART3_IRQn
 #define TELEM_IRQHANDLER_FUNC		void USART3_IRQHandler(void)
-#define TELEM_CLK_FUNC				RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE)
+#define TELEM_CLK_FUNC			RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE)
-#define TELEM_NVIC_PRIO				IRQ_PRIO_HIGHEST
+#define TELEM_NVIC_PRIO			IRQ_PRIO_HIGHEST
 
 //-------------------------
 // AUXSER USART (available instead of RX5/RX6)
 //-------------------------
-#define AUX_UART_BAUD				19200
+#define AUX_UART_BAUD			19200
-#define AUX_UART_UART				USART1
+#define AUX_UART_UART			USART1
-#define AUX_UART_GPIO_PORT			GPIOA
+#define AUX_UART_GPIO_PORT		GPIOA
-#define AUX_UART_RX_PIN				GPIO_Pin_10
+#define AUX_UART_RX_PIN			GPIO_Pin_10
-#define AUX_UART_TX_PIN				GPIO_Pin_9
+#define AUX_UART_TX_PIN			GPIO_Pin_9
-#define AUX_UART_REMAP_FUNC			{ }
+#define AUX_UART_REMAP_FUNC		{ }
 #define AUX_UART_IRQ_CHANNEL		USART1_IRQn
 #define AUX_UART_IRQHANDLER_FUNC	void USART1_IRQHandler(void)
-#define AUX_UART_CLK_FUNC			RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE)
+#define AUX_UART_CLK_FUNC		RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE)
-#define AUX_UART_NVIC_PRIO			IRQ_PRIO_HIGH
+#define AUX_UART_NVIC_PRIO		IRQ_PRIO_HIGH
 
 //-------------------------
 // USART Serial Ports
 //-------------------------
-#define UART_NUM						3
+#define UART_NUM			3
-#define UART_RX_BUFFER_SIZE				128
+#define UART_RX_BUFFER_SIZE		128
-#define UART_TX_BUFFER_SIZE				128
+#define UART_TX_BUFFER_SIZE		128
 
 //-------------------------
 // Receiver PWM inputs   
 //-------------------------
-#define RECEIVER1_GPIO_PORT         GPIOB
+#define RECEIVER1_GPIO_PORT		GPIOB
-#define RECEIVER1_PIN               GPIO_Pin_2      // PB2
+#define RECEIVER1_PIN			GPIO_Pin_2      // PB2
-#define RECEIVER1_TIM_PORT          TIM3
+#define RECEIVER1_TIM_PORT		TIM3
-#define RECEIVER1_CH                TIM_Channel_3   // TIM3_CH3
+#define RECEIVER1_CH			TIM_Channel_3   // TIM3_CH3
-#define RECEIVER2_GPIO_PORT         GPIOB
+#define RECEIVER2_GPIO_PORT		GPIOB
-#define RECEIVER2_PIN               GPIO_Pin_1      // PB1
+#define RECEIVER2_PIN			GPIO_Pin_1      // PB1
-#define RECEIVER2_TIM_PORT          TIM3
+#define RECEIVER2_TIM_PORT		TIM3
-#define RECEIVER2_CH                TIM_Channel_4   // TIM3_CH4
+#define RECEIVER2_CH			TIM_Channel_4   // TIM3_CH4
-#define RECEIVER3_GPIO_PORT         GPIOA
+#define RECEIVER3_GPIO_PORT		GPIOA
-#define RECEIVER3_PIN               GPIO_Pin_8      // PA8
+#define RECEIVER3_PIN			GPIO_Pin_8      // PA8
-#define RECEIVER3_TIM_PORT          TIM1
+#define RECEIVER3_TIM_PORT		TIM1
-#define RECEIVER3_CH                TIM_Channel_1   // TIM1_CH1
+#define RECEIVER3_CH			TIM_Channel_1   // TIM1_CH1
-#define RECEIVER4_GPIO_PORT         GPIOA
+#define RECEIVER4_GPIO_PORT		GPIOA
-#define RECEIVER4_PIN               GPIO_Pin_0      // PA0
+#define RECEIVER4_PIN			GPIO_Pin_0      // PA0
-#define RECEIVER4_TIM_PORT          TIM5
+#define RECEIVER4_TIM_PORT		TIM5
-#define RECEIVER4_CH                TIM_Channel_1   // TIM5_CH1
+#define RECEIVER4_CH			TIM_Channel_1   // TIM5_CH1
-#define RECEIVER5_GPIO_PORT         GPIOA
+#define RECEIVER5_GPIO_PORT		GPIOA
-#define RECEIVER5_PIN               GPIO_Pin_10     // PA10
+#define RECEIVER5_PIN			GPIO_Pin_10     // PA10
-#define RECEIVER5_TIM_PORT          TIM1
+#define RECEIVER5_TIM_PORT		TIM1
-#define RECEIVER5_CH                TIM_Channel_3   // TIM1_CH3
+#define RECEIVER5_CH			TIM_Channel_3   // TIM1_CH3
-#define RECEIVER6_GPIO_PORT         GPIOA
+#define RECEIVER6_GPIO_PORT		GPIOA
-#define RECEIVER6_PIN               GPIO_Pin_9      // PA9
+#define RECEIVER6_PIN			GPIO_Pin_9      // PA9
-#define RECEIVER6_TIM_PORT          TIM1
+#define RECEIVER6_TIM_PORT		TIM1
-#define RECEIVER6_CH                TIM_Channel_2   // TIM1_CH2
+#define RECEIVER6_CH			TIM_Channel_2   // TIM1_CH2
 
 /* Not used in v1.2 HW
-#define RECEIVER7_GPIO_PORT         GPIOB
+#define RECEIVER7_GPIO_PORT		GPIOB
-#define RECEIVER7_PIN               GPIO_Pin_4      // PB4
+#define RECEIVER7_PIN			GPIO_Pin_4      // PB4
-#define RECEIVER7_TIM_PORT          TIM3
+#define RECEIVER7_TIM_PORT		TIM3
-#define RECEIVER7_CH                TIM_Channel_1   // TIM3_CH1
+#define RECEIVER7_CH			TIM_Channel_1   // TIM3_CH1
-#define RECEIVER8_GPIO_PORT         GPIOB
+#define RECEIVER8_GPIO_PORT		GPIOB
-#define RECEIVER8_PIN               GPIO_Pin_5      // PB5
+#define RECEIVER8_PIN			GPIO_Pin_5      // PB5
-#define RECEIVER8_TIM_PORT          TIM3
+#define RECEIVER8_TIM_PORT		TIM3
-#define RECEIVER8_CH                TIM_Channel_2   // TIM3_CH2
+#define RECEIVER8_CH			TIM_Channel_2   // TIM3_CH2
 */
 
-#define NUM_RECEIVER_INPUTS 6
+#define NUM_RECEIVER_INPUTS		6
 
 //-------------------------
 // Servo outputs   
 //-------------------------
-#define SERVO1_4_PORT       GPIOB
+#define SERVO1_4_PORT			GPIOB
-#define SERVO1_PIN          GPIO_Pin_6
+#define SERVO1_PIN			GPIO_Pin_6
-#define SERVO2_PIN          GPIO_Pin_7
+#define SERVO2_PIN			GPIO_Pin_7
-#define SERVO3_PIN          GPIO_Pin_8
+#define SERVO3_PIN			GPIO_Pin_8
-#define SERVO4_PIN          GPIO_Pin_9
+#define SERVO4_PIN			GPIO_Pin_9
-#define SERVO5_8_PORT       GPIOC
+#define SERVO5_8_PORT			GPIOC
-#define SERVO5_PIN          GPIO_Pin_6
+#define SERVO5_PIN			GPIO_Pin_6
-#define SERVO6_PIN          GPIO_Pin_7
+#define SERVO6_PIN			GPIO_Pin_7
-#define SERVO7_PIN          GPIO_Pin_8
+#define SERVO7_PIN			GPIO_Pin_8
-#define SERVO8_PIN          GPIO_Pin_9
+#define SERVO8_PIN			GPIO_Pin_9
 
-#define NUM_SERVO_OUTPUTS 8
+#define NUM_SERVO_OUTPUTS		8
 
 //-------------------------
 // Leveler (analog inputs)
 //-------------------------
-#define LEVELER_GPIO_PORT	GPIOC  
+#define LEVELER_GPIO_PORT		GPIOC  
-#define LEVELER_Z_PIN		GPIO_Pin_0             // ADC123_IN10
+#define LEVELER_Z_PIN			GPIO_Pin_0	// ADC123_IN10
-#define LEVELER_A_PIN		GPIO_Pin_1             // ADC123_IN11
+#define LEVELER_A_PIN			GPIO_Pin_1	// ADC123_IN11
-#define LEVELER_B_PIN		GPIO_Pin_2             // ADC123_IN12
+#define LEVELER_B_PIN			GPIO_Pin_2	// ADC123_IN12
 
 //-------------------------  
 // USB
 //-------------------------
-#define USB_ACC_GPIO_PORT	GPIOC
+#define USB_ACC_GPIO_PORT		GPIOC
-#define USB_DETECT_PIN		GPIO_Pin_4
+#define USB_DETECT_PIN			GPIO_Pin_4
-#define USB_PULLUP_PIN		GPIO_Pin_14
+#define USB_PULLUP_PIN			GPIO_Pin_14
 
 //-------------------------
 // Master Clock   
 //-------------------------
-#define MASTER_CLOCK        72000000
+#define MASTER_CLOCK			72000000
-#define PERIPHERAL_CLOCK    (MASTER_CLOCK/2)
+#define PERIPHERAL_CLOCK		(MASTER_CLOCK/2)
 
 //-------------------------
 // Interrupt Priorities
 //-------------------------
-#define IRQ_PRIO_LOW		12			// lower than RTOS
+#define IRQ_PRIO_LOW			12		// lower than RTOS
-#define IRQ_PRIO_MID		8			// higher than RTOS
+#define IRQ_PRIO_MID			8		// higher than RTOS
-#define IRQ_PRIO_HIGH		5			// for like SPI, AIN, I2C etc...
+#define IRQ_PRIO_HIGH			5		// for like SPI, AIN, I2C etc...
-#define IRQ_PRIO_HIGHEST	4 			// for UART etc...
+#define IRQ_PRIO_HIGHEST		4 		// for UART etc...
 
 #endif /* PIOS_BOARD_H */

flight/sys/pios_irq.c

@@ -30,11 +30,6 @@
 #include "pios.h"
 
 
-/* Public Function Prototypes */
-int IRQDisable(void);
-int IRQEnable(void);
-
-
 /* Private Function Prototypes */
 
 
@@ -46,13 +41,13 @@ static unsigned int nested_ctr;
 static unsigned int prev_primask;
 
 
-/*******************************************************************************
+/**
 * Function Name  : IRQDisable
 * Description    : Disables all interrupts (nested)
 * Input          : None
 * Output         : None
 * Return         : Zero on no error
-*******************************************************************************/
+*/
 int IRQDisable(void)
 {
 	/* Get current priority if nested level == 0 */
@@ -77,13 +72,13 @@ int IRQDisable(void)
 }
 
 
-/*******************************************************************************
+/**
 * Function Name  : IRQEnable
 * Description    : Enables all interrupts (nested)
 * Input          : None
 * Output         : None
 * Return         : Zero on no error, -1 on nesting error
-*******************************************************************************/
+*/
 int IRQEnable(void)
 {
 	/* Check for nesting error */

flight/sys/pios_led.c

@@ -30,13 +30,6 @@
 #include "pios.h"
 
 
-/* Public Function Prototypes */
-void LED_INIT(void);
-void LED_ON(LedTypeDef LEDNum);
-void LED_OFF(LedTypeDef LEDNum);
-void LED_TOGGLE(LedTypeDef LEDNum);
-
-
 /* Private Function Prototypes */
 
 
@@ -46,13 +39,13 @@ const uint16_t LED_GPIO_PIN[NUM_LED] = {LED1_GPIO_PIN, LED2_GPIO_PIN};
 const uint32_t LED_GPIO_CLK[NUM_LED] = {LED1_GPIO_CLK, LED2_GPIO_CLK};
 
 
-/*******************************************************************************
+/**
 * Function Name  : LED_INIT
 * Description    : Initialises all the LED's
 * Input          : None
 * Output         : None
 * Return         : None
-*******************************************************************************/
+*/
 void LED_INIT(void)
 {
 	GPIO_InitTypeDef GPIO_InitStructure;
@@ -67,39 +60,39 @@ void LED_INIT(void)
 }
 
 
-/*******************************************************************************
+/**
 * Function Name  : LED_ON
 * Description    : Turn on LED
 * Input          : LED Number
 * Output         : None
 * Return         : None
-*******************************************************************************/
+*/
 void LED_ON(LedTypeDef LEDNum)
 {
 	LED_GPIO_PORT[LEDNum]->BSRR = LED_GPIO_PIN[LEDNum];
 }
 
 
-/*******************************************************************************
+/**
 * Function Name  : LED_OFF
 * Description    : Turn off LED
 * Input          : LED Number
 * Output         : None
 * Return         : None
-*******************************************************************************/
+*/
 void LED_OFF(LedTypeDef LEDNum)
 {
 	LED_GPIO_PORT[LEDNum]->BRR = LED_GPIO_PIN[LEDNum];
 }
 
 
-/*******************************************************************************
+/**
 * Function Name  : LED_TOGGLE
 * Description    : Turn on/off LED
 * Input          : LED Number
 * Output         : None
 * Return         : None
-*******************************************************************************/
+*/
 void LED_TOGGLE(LedTypeDef LEDNum)
 {
 	LED_GPIO_PORT[LEDNum]->ODR ^= LED_GPIO_PIN[LEDNum];

flight/sys/pios_settings.c

@@ -30,10 +30,6 @@
 #include "pios.h"
 
 
-/* Public Function Prototypes */
-void LoadSettings(void);
-
-
 /* Private Function Prototypes */
 
 
@@ -41,7 +37,7 @@ void LoadSettings(void);
 SettingsTypeDef Settings;
 
 
-/*******************************************************************************
+/**
 * Function Name  : LoadSettings
 * Description    : Populate System global Vars into Structs using MinIni, 
 * 		 : defaults are also set here. Only function in the file
@@ -50,7 +46,7 @@ SettingsTypeDef Settings;
 * Input          : None
 * Output         : None
 * Return         : None
-*******************************************************************************/
+*/
 /* Value Reading:	ini_getl("Section", "Key", (DefaultValue), IniFile);									*/
 /* String Reading:	ini_gets("Section", "Key", "DefaultValue", StrBuffer, sizearray(StrBuffer), IniFile); 	*/
 

flight/sys/pios_sys.c

@@ -30,10 +30,6 @@
 #include "pios.h"
 
 
-/* Public Function Prototypes */
-void SysInit(void);
-
-
 /* Private Function Prototypes */
 void NVIC_Configuration(void);
 
@@ -42,13 +38,13 @@ void NVIC_Configuration(void);
 FATFS Fatfs[_DRIVES];	// File system object for each logical drive */
 
 
-/*******************************************************************************
+/**
 * Function Name  : SysInit
 * Description    : Brings up the System and Initializes peripherals 
 * Input          : None
 * Output         : None
 * Return         : None
-*******************************************************************************/
+*/
 //TODO: Get these in the right order, settings need to be loaded ASAP
 void SysInit(void)
 {
@@ -76,26 +72,26 @@ void SysInit(void)
 }
 
 
-/*******************************************************************************
+/**
 * Function Name  : GPIO_Configuration
 * Description    : Configures base level GPIO ports.
 * Input          : None
 * Output         : None
 * Return         : None
-*******************************************************************************/
+*/
 void GPIO_Configuration(void)
 {
 
 }
 
 
-/*******************************************************************************
+/**
 * Function Name  : NVIC_Configuration
 * Description    : Configures Vector Table base location and SysTick
 * Input          : None
 * Output         : None
 * Return         : None
-*******************************************************************************/
+*/
 void NVIC_Configuration(void)
 {
 	/* Set the Vector Table base address as specified in .ld file */

flight/sys/pios_uart.c

@@ -30,13 +30,6 @@
 #include "pios.h"
 
 
-/* Public Function Prototypes */
-void UARTInit(void);
-void EnableAuxUART(void);
-void DisableAuxUART(void);
-void UARTChangeBaud(USART_TypeDef* USARTx, uint32_t Baud);
-
-
 /* Private Function Prototypes */
 
 
@@ -52,13 +45,13 @@ static volatile u8 tx_buffer_head[UART_NUM];
 static volatile u8 tx_buffer_size[UART_NUM];
 
 
-/*******************************************************************************
+/**
 * Function Name  : UARTInit
 * Description    : Initialise the GPS and TELEM onboard UARTs
 * Input          : None
 * Output         : None
 * Return         : None
-*******************************************************************************/
+*/
 void UARTInit(void)
 {
 	GPIO_InitTypeDef GPIO_InitStructure;
@@ -149,40 +142,40 @@ void UARTInit(void)
 }
 
 
-/*******************************************************************************
+/**
 * Function Name  : EnableAuxUART
 * Description    : Enables AUX UART at the expense of servo inputs
 * Input          : None
 * Output         : None
 * Return         : None
-*******************************************************************************/
+*/
 void EnableAuxUART(void)
 {
 	//Implement after servo inputs are implemented
 }
 
 
-/*******************************************************************************
+/**
 * Function Name  : DisableAuxUART
 * Description    : Disables AUX UART reclaims two servo inputs
 * Input          : None
 * Output         : None
 * Return         : None
-*******************************************************************************/
+*/
 void DisableAuxUART(void)
 {
 	//Implement after servo inputs are implemented
 }
 
 
-/*******************************************************************************
+/**
 * Function Name  : UARTInit
 * Description    : Changes the baud rate of the USART peripherial without
 *		 : re-initialising.
 * Input          : USART to change, new baud rate
 * Output         : None
 * Return         : None
-*******************************************************************************/
+*/
 void UARTChangeBaud(USART_TypeDef* USARTx, uint32_t Baud)
 {
 	/* USART BRR Configuration */