Merge pull request #993 from nzmichaelh/cxx-send

various: tidy up various things found when building with a C++ compiler.

lib/main/CMSIS/CM3/CoreSupport/core_cm3.c

@@ -21,7 +21,9 @@
  *
  ******************************************************************************/
 
-#include <stdint.h>
+// TODO(michaelh): needed for IRQn_Type which is chip specific.
+#include "stm32f10x_conf.h"
+#include "core_cm3.h"
 
 /* define compiler specific symbols */
 #if defined ( __CC_ARM   )

src/main/blackbox/blackbox_io.h

@@ -32,7 +32,7 @@ typedef enum BlackboxDevice {
     BLACKBOX_DEVICE_END
 } BlackboxDevice;
 
-uint8_t blackboxWriteChunkSize;
+extern uint8_t blackboxWriteChunkSize;
 
 void blackboxWrite(uint8_t value);
 

src/main/drivers/display_ug2864hsweg01.c

@@ -31,7 +31,7 @@
 
 unsigned char CHAR_FORMAT = NORMAL_CHAR_FORMAT;
 
-static const uint8_t const multiWiiFont[][5] = { // Refer to "Times New Roman" Font Database... 5 x 7 font
+static const uint8_t multiWiiFont[][5] = { // Refer to "Times New Roman" Font Database... 5 x 7 font
         { 0x00, 0x00, 0x00, 0x00, 0x00 }, { 0x00, 0x00, 0x4F, 0x00, 0x00 }, //   (  1)  ! - 0x0021 Exclamation Mark
                 { 0x00, 0x07, 0x00, 0x07, 0x00 }, //   (  2)  " - 0x0022 Quotation Mark
                 { 0x14, 0x7F, 0x14, 0x7F, 0x14 }, //   (  3)  # - 0x0023 Number Sign

src/main/drivers/timer.c

@@ -675,7 +675,7 @@ static void timCCxHandler(TIM_TypeDef *tim, timerConfig_t *timerConfig)
         tim->SR = mask;
         tim_status &= mask;
         switch(bit) {
-        case __builtin_clz(TIM_IT_Update):
+        case __builtin_clz(TIM_IT_Update): {
 
         	if(timerConfig->forcedOverflowTimerValue != 0){
         		capture = timerConfig->forcedOverflowTimerValue - 1;
@@ -690,6 +690,7 @@ static void timCCxHandler(TIM_TypeDef *tim, timerConfig_t *timerConfig)
                 cb = cb->next;
             }
             break;
+        }
         case __builtin_clz(TIM_IT_CC1):
             timerConfig->edgeCallback[0]->fn(timerConfig->edgeCallback[0], tim->CCR1);
             break;

src/main/flight/altitudehold.c

@@ -55,10 +55,10 @@ int32_t AltHold;
 int32_t vario = 0;                      // variometer in cm/s
 
 
-barometerConfig_t *barometerConfig;
-pidProfile_t *pidProfile;
-rcControlsConfig_t *rcControlsConfig;
-escAndServoConfig_t *escAndServoConfig;
+static barometerConfig_t *barometerConfig;
+static pidProfile_t *pidProfile;
+static rcControlsConfig_t *rcControlsConfig;
+static escAndServoConfig_t *escAndServoConfig;
 
 void configureAltitudeHold(
         pidProfile_t *initialPidProfile,

src/main/flight/imu.c

@@ -65,9 +65,9 @@ float gyroScaleRad;
 rollAndPitchInclination_t inclination = { { 0, 0 } };     // absolute angle inclination in multiple of 0.1 degree    180 deg = 1800
 float anglerad[2] = { 0.0f, 0.0f };    // absolute angle inclination in radians
 
-imuRuntimeConfig_t *imuRuntimeConfig;
-pidProfile_t *pidProfile;
-accDeadband_t *accDeadband;
+static imuRuntimeConfig_t *imuRuntimeConfig;
+static pidProfile_t *pidProfile;
+static accDeadband_t *accDeadband;
 
 void imuConfigure(
     imuRuntimeConfig_t *initialImuRuntimeConfig,

src/main/io/beeper.c

@@ -151,7 +151,7 @@ typedef struct beeperTableEntry_s {
 #define BEEPER_ENTRY(a,b,c,d) a,b,c
 #endif
 
-static const beeperTableEntry_t const beeperTable[] = {
+static const beeperTableEntry_t beeperTable[] = {
     { BEEPER_ENTRY(BEEPER_GYRO_CALIBRATED,       0, beep_gyroCalibrated,   "GYRO_CALIBRATED") },
     { BEEPER_ENTRY(BEEPER_RX_LOST_LANDING,       1, beep_sos,              "RX_LOST_LANDING") },
     { BEEPER_ENTRY(BEEPER_RX_LOST,               2, beep_txLostBeep,       "RX_LOST") },

src/main/io/display.c

@@ -100,7 +100,7 @@ static const char* const pageTitles[] = {
 
 #define PAGE_COUNT (PAGE_RX + 1)
 
-const uint8_t cyclePageIds[] = {
+const pageId_e cyclePageIds[] = {
     PAGE_PROFILE,
 #ifdef GPS
     PAGE_GPS,

src/main/io/ledstrip.c

@@ -74,8 +74,6 @@ static uint32_t nextRotationUpdateAt = 0;
 #error "Led strip length must match driver"
 #endif
 
-hsvColor_t *colors;
-
 //                          H    S    V
 #define LED_BLACK        {  0,   0,   0}
 #define LED_WHITE        {  0, 255, 255}
@@ -892,11 +890,11 @@ void updateLedStrip(void)
 
     uint32_t now = micros();
 
-    bool indicatorFlashNow = indicatorFlashNow = (int32_t)(now - nextIndicatorFlashAt) >= 0L;
-    bool warningFlashNow = warningFlashNow = (int32_t)(now - nextWarningFlashAt) >= 0L;
+    bool indicatorFlashNow = (int32_t)(now - nextIndicatorFlashAt) >= 0L;
+    bool warningFlashNow = (int32_t)(now - nextWarningFlashAt) >= 0L;
     bool rotationUpdateNow = (int32_t)(now - nextRotationUpdateAt) >= 0L;
 #ifdef USE_LED_ANIMATION
-    bool animationUpdateNow = animationUpdateNow = (int32_t)(now - nextAnimationUpdateAt) >= 0L;
+    bool animationUpdateNow = (int32_t)(now - nextAnimationUpdateAt) >= 0L;
 #endif
     if (!(
             indicatorFlashNow ||

src/main/io/rc_controls.c

@@ -315,102 +315,102 @@ static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COU
     {
         .adjustmentFunction = ADJUSTMENT_RC_RATE,
         .mode = ADJUSTMENT_MODE_STEP,
-        .data.stepConfig.step = 1
+        .data = { .stepConfig = { .step = 1 }}
     },
     {
         .adjustmentFunction = ADJUSTMENT_RC_EXPO,
         .mode = ADJUSTMENT_MODE_STEP,
-        .data.stepConfig.step = 1
+        .data = { .stepConfig = { .step = 1 }}
     },
     {
         .adjustmentFunction = ADJUSTMENT_THROTTLE_EXPO,
         .mode = ADJUSTMENT_MODE_STEP,
-        .data.stepConfig.step = 1
+        .data = { .stepConfig = { .step = 1 }}
     },
     {
         .adjustmentFunction = ADJUSTMENT_PITCH_ROLL_RATE,
         .mode = ADJUSTMENT_MODE_STEP,
-        .data.stepConfig.step = 1
+        .data = { .stepConfig = { .step = 1 }}
     },
     {
         .adjustmentFunction = ADJUSTMENT_YAW_RATE,
         .mode = ADJUSTMENT_MODE_STEP,
-        .data.stepConfig.step = 1
+        .data = { .stepConfig = { .step = 1 }}
     },
     {
         .adjustmentFunction = ADJUSTMENT_PITCH_ROLL_P,
         .mode = ADJUSTMENT_MODE_STEP,
-        .data.stepConfig.step = 1
+        .data = { .stepConfig = { .step = 1 }}
     },
     {
         .adjustmentFunction = ADJUSTMENT_PITCH_ROLL_I,
         .mode = ADJUSTMENT_MODE_STEP,
-        .data.stepConfig.step = 1
+        .data = { .stepConfig = { .step = 1 }}
     },
     {
         .adjustmentFunction = ADJUSTMENT_PITCH_ROLL_D,
         .mode = ADJUSTMENT_MODE_STEP,
-        .data.stepConfig.step = 1
+        .data = { .stepConfig = { .step = 1 }}
     },
     {
         .adjustmentFunction = ADJUSTMENT_YAW_P,
         .mode = ADJUSTMENT_MODE_STEP,
-        .data.stepConfig.step = 1
+        .data = { .stepConfig = { .step = 1 }}
     },
     {
         .adjustmentFunction = ADJUSTMENT_YAW_I,
         .mode = ADJUSTMENT_MODE_STEP,
-        .data.stepConfig.step = 1
+        .data = { .stepConfig = { .step = 1 }}
     },
     {
         .adjustmentFunction = ADJUSTMENT_YAW_D,
         .mode = ADJUSTMENT_MODE_STEP,
-        .data.stepConfig.step = 1
+        .data = { .stepConfig = { .step = 1 }}
     },
     {
         .adjustmentFunction = ADJUSTMENT_RATE_PROFILE,
         .mode = ADJUSTMENT_MODE_SELECT,
-        .data.selectConfig.switchPositions = 3
+        .data = { .selectConfig = { .switchPositions = 3 }}
     },
     {
         .adjustmentFunction = ADJUSTMENT_PITCH_RATE,
         .mode = ADJUSTMENT_MODE_STEP,
-        .data.stepConfig.step = 1
+        .data = { .stepConfig = { .step = 1 }}
     },
     {
         .adjustmentFunction = ADJUSTMENT_ROLL_RATE,
         .mode = ADJUSTMENT_MODE_STEP,
-        .data.stepConfig.step = 1
+        .data = { .stepConfig = { .step = 1 }}
     },
     {
         .adjustmentFunction = ADJUSTMENT_PITCH_P,
         .mode = ADJUSTMENT_MODE_STEP,
-        .data.stepConfig.step = 1
+        .data = { .stepConfig = { .step = 1 }}
     },
     {
         .adjustmentFunction = ADJUSTMENT_PITCH_I,
         .mode = ADJUSTMENT_MODE_STEP,
-        .data.stepConfig.step = 1
+        .data = { .stepConfig = { .step = 1 }}
     },
     {
         .adjustmentFunction = ADJUSTMENT_PITCH_D,
         .mode = ADJUSTMENT_MODE_STEP,
-        .data.stepConfig.step = 1
+        .data = { .stepConfig = { .step = 1 }}
     },
     {
         .adjustmentFunction = ADJUSTMENT_ROLL_P,
         .mode = ADJUSTMENT_MODE_STEP,
-        .data.stepConfig.step = 1
+        .data = { .stepConfig = { .step = 1 }}
     },
     {
         .adjustmentFunction = ADJUSTMENT_ROLL_I,
         .mode = ADJUSTMENT_MODE_STEP,
-        .data.stepConfig.step = 1
+        .data = { .stepConfig = { .step = 1 }}
     },
     {
         .adjustmentFunction = ADJUSTMENT_ROLL_D,
         .mode = ADJUSTMENT_MODE_STEP,
-        .data.stepConfig.step = 1
+        .data = { .stepConfig = { .step = 1 }}
     }
 };
 

src/main/io/serial_msp.c

@@ -315,7 +315,7 @@ typedef struct box_e {
 } box_t;
 
 // FIXME remove ;'s
-static const box_t const boxes[CHECKBOX_ITEM_COUNT + 1] = {
+static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
     { BOXARM, "ARM;", 0 },
     { BOXANGLE, "ANGLE;", 1 },
     { BOXHORIZON, "HORIZON;", 2 },

src/main/main.c

@@ -68,6 +68,7 @@
 #include "sensors/gyro.h"
 #include "sensors/battery.h"
 #include "sensors/boardalignment.h"
+#include "sensors/initialisation.h"
 
 #include "telemetry/telemetry.h"
 #include "blackbox/blackbox.h"
@@ -110,7 +111,6 @@ void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfigura
 void rxInit(rxConfig_t *rxConfig);
 void gpsInit(serialConfig_t *serialConfig, gpsConfig_t *initialGpsConfig);
 void navigationInit(gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile);
-bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, int8_t magHardwareToUse, int16_t magDeclinationFromConfig);
 void imuInit(void);
 void displayInit(rxConfig_t *intialRxConfig);
 void ledStripInit(ledConfig_t *ledConfigsToUse, hsvColor_t *colorsToUse);
@@ -207,9 +207,9 @@ void init(void)
     if (feature(FEATURE_SONAR)) {
         sonarHardware = sonarGetHardwareConfiguration(&masterConfig.batteryConfig);
         sonarGPIOConfig_t sonarGPIOConfig = {
-                .echoPin = sonarHardware->trigger_pin,
-                .triggerPin = sonarHardware->echo_pin,
-                .gpio = SONAR_GPIO
+            .gpio = SONAR_GPIO,
+            .triggerPin = sonarHardware->echo_pin,
+            .echoPin = sonarHardware->trigger_pin,
         };
         pwm_params.sonarGPIOConfig = &sonarGPIOConfig;
     }
@@ -267,9 +267,9 @@ void init(void)
 
 #ifdef BEEPER
     beeperConfig_t beeperConfig = {
+        .gpioPeripheral = BEEP_PERIPHERAL,
         .gpioPin = BEEP_PIN,
         .gpioPort = BEEP_GPIO,
-        .gpioPeripheral = BEEP_PERIPHERAL,
 #ifdef BEEPER_INVERTED
         .gpioMode = Mode_Out_PP,
         .isInverted = true

src/main/sensors/barometer.c

@@ -41,7 +41,7 @@ static int32_t baroGroundAltitude = 0;
 static int32_t baroGroundPressure = 0;
 static uint32_t baroPressureSum = 0;
 
-barometerConfig_t *barometerConfig;
+static barometerConfig_t *barometerConfig;
 
 void useBarometerConfig(barometerConfig_t *barometerConfigToUse)
 {

src/main/sensors/initialisation.c

@@ -60,6 +60,7 @@
 #include "sensors/gyro.h"
 #include "sensors/compass.h"
 #include "sensors/sonar.h"
+#include "sensors/initialisation.h"
 
 #ifdef NAZE
 #include "hardware_revision.h"
@@ -79,21 +80,21 @@ const mpu6050Config_t *selectMPU6050Config(void)
     // MPU_INT output on rev4 PB13
     static const mpu6050Config_t nazeRev4MPU6050Config = {
             .gpioAPB2Peripherals = RCC_APB2Periph_GPIOB,
-            .gpioPort = GPIOB,
             .gpioPin = Pin_13,
+            .gpioPort = GPIOB,
             .exti_port_source = GPIO_PortSourceGPIOB,
-            .exti_pin_source = GPIO_PinSource13,
             .exti_line = EXTI_Line13,
+            .exti_pin_source = GPIO_PinSource13,
             .exti_irqn = EXTI15_10_IRQn
     };
     // MPU_INT output on rev5 hardware PC13
     static const mpu6050Config_t nazeRev5MPU6050Config = {
             .gpioAPB2Peripherals = RCC_APB2Periph_GPIOC,
-            .gpioPort = GPIOC,
             .gpioPin = Pin_13,
+            .gpioPort = GPIOC,
             .exti_port_source = GPIO_PortSourceGPIOC,
-            .exti_pin_source = GPIO_PinSource13,
             .exti_line = EXTI_Line13,
+            .exti_pin_source = GPIO_PinSource13,
             .exti_irqn = EXTI15_10_IRQn
     };
 
@@ -478,9 +479,6 @@ static void detectMag(magSensor_e magHardwareToUse)
             .gpioPin = Pin_12,
             .gpioPort = GPIOB,
 
-            .exti_port_source = 0,
-            .exti_pin_source = 0
-
             /* Disabled for v4 needs more work.
             .exti_port_source = GPIO_PortSourceGPIOB,
             .exti_pin_source = GPIO_PinSource12,
@@ -493,8 +491,8 @@ static void detectMag(magSensor_e magHardwareToUse)
             .gpioPin = Pin_14,
             .gpioPort = GPIOC,
             .exti_port_source = GPIO_PortSourceGPIOC,
-            .exti_pin_source = GPIO_PinSource14,
             .exti_line = EXTI_Line14,
+            .exti_pin_source = GPIO_PinSource14,
             .exti_irqn = EXTI15_10_IRQn
     };
     if (hardwareRevision < NAZE32_REV5) {

src/main/sensors/initialisation.h

+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight 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 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+bool sensorsAutodetect(sensorAlignmentConfig_t *sensorAlignmentConfig, uint16_t gyroLpf, uint8_t accHardwareToUse, uint8_t magHardwareToUse, int16_t magDeclinationFromConfig);

src/main/sensors/sonar.c

@@ -41,14 +41,14 @@ static int32_t calculatedAltitude;
 const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryConfig) 
 {
 #if defined(NAZE) || defined(EUSTM32F103RC) || defined(PORT103R)
-    static const sonarHardware_t const sonarPWM56 = {
+    static const sonarHardware_t sonarPWM56 = {
         .trigger_pin = Pin_8,   // PWM5 (PB8) - 5v tolerant
         .echo_pin = Pin_9,      // PWM6 (PB9) - 5v tolerant
         .exti_line = EXTI_Line9,
         .exti_pin_source = GPIO_PinSource9,
         .exti_irqn = EXTI9_5_IRQn
     };
-    static const sonarHardware_t const sonarRC78 = {
+    static const sonarHardware_t sonarRC78 = {
         .trigger_pin = Pin_0,   // RX7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
         .echo_pin = Pin_1,      // RX8 (PB1) - only 3.3v ( add a 1K Ohms resistor )
         .exti_line = EXTI_Line1,

src/main/version.c

@@ -15,6 +15,8 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "version.h"
+
 const char * const targetName = __TARGET__;
 const char * const shortGitRevision = __REVISION__;
 const char * const buildDate = __DATE__;