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23 Commits
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| Author | SHA1 | Date | |
|---|---|---|---|
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| b58379ac75 | |||
| a6849cd900 | |||
| 839dbee16e | |||
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| 007a3fd16f | |||
| 4a85827150 | |||
| 271bd845bf | |||
| 69c736b1eb | |||
| 9d0f5d06ea | |||
| 941aedd79f | |||
| a355e36636 | |||
| fa0a664e43 | |||
| 2aa9648dd4 | |||
| 5dd404d44b | |||
| 3c2889b8f7 | |||
| b86af180ab | |||
| 89940fbec2 | |||
| 21dbd883f7 | |||
| 02f53416ab |
40
.gitignore
vendored
Normal file → Executable file
40
.gitignore
vendored
Normal file → Executable file
@@ -1,34 +1,6 @@
|
||||
# ---> C++
|
||||
# Prerequisites
|
||||
*.d
|
||||
|
||||
# Compiled Object files
|
||||
*.slo
|
||||
*.lo
|
||||
*.o
|
||||
*.obj
|
||||
|
||||
# Precompiled Headers
|
||||
*.gch
|
||||
*.pch
|
||||
|
||||
# Compiled Dynamic libraries
|
||||
*.so
|
||||
*.dylib
|
||||
*.dll
|
||||
|
||||
# Fortran module files
|
||||
*.mod
|
||||
*.smod
|
||||
|
||||
# Compiled Static libraries
|
||||
*.lai
|
||||
*.la
|
||||
*.a
|
||||
*.lib
|
||||
|
||||
# Executables
|
||||
*.exe
|
||||
*.out
|
||||
*.app
|
||||
|
||||
.pio
|
||||
.vscode/*
|
||||
.vscode/.browse.c_cpp.db*
|
||||
.vscode/c_cpp_properties.json
|
||||
.vscode/launch.json
|
||||
.vscode/ipch
|
||||
|
||||
8
.idea/.gitignore
generated
vendored
Executable file
8
.idea/.gitignore
generated
vendored
Executable file
@@ -0,0 +1,8 @@
|
||||
# Default ignored files
|
||||
/shelf/
|
||||
/workspace.xml
|
||||
# Editor-based HTTP Client requests
|
||||
/httpRequests/
|
||||
# Datasource local storage ignored files
|
||||
/dataSources/
|
||||
/dataSources.local.xml
|
||||
103
.idea/codeStyles/Project.xml
generated
Normal file
103
.idea/codeStyles/Project.xml
generated
Normal file
@@ -0,0 +1,103 @@
|
||||
<component name="ProjectCodeStyleConfiguration">
|
||||
<code_scheme name="Project" version="173">
|
||||
<RiderCodeStyleSettings>
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppClangFormat/EnableClangFormatSupport/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/EditorConfig/EnableClangFormatSupport/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_BINARY_EXPRESSIONS_CHAIN/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_CALLS_CHAIN/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXPRESSION/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_FOR_STMT/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTIPLE_DECLARATION/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_TERNARY/@EntryValue" value="ALIGN_ALL" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_CLASS_DEFINITION/@EntryValue" value="1" type="int" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_DECLARATIONS/@EntryValue" value="2" type="int" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_CODE/@EntryValue" value="2" type="int" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_USER_LINEBREAKS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CASE_FROM_SWITCH/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_COMMENT/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INT_ALIGN_EQ/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SIMPLE_BLOCK_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_PARAMS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_SEMICOLON/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_SEMICOLON/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_UNARY_OPERATOR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_ARRAY_ACCESS_BRACKETS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_METHOD_PARENTHESES/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPECIAL_ELSE_IF_TREATMENT/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_BINARY_OPSIGN/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_TERNARY_OPSIGNS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TYPE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/OTHER_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CASE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DECLARATION/@EntryValue" value="1" type="int" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DEFINITION/@EntryValue" value="1" type="int" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_WHILE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_ELSE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_CATCH_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_INDENTATION/@EntryValue" value="All" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_ARGUMENT/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXTENDS_LIST/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_PARAMETER/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_ARGUMENT/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_PARAMETER/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_DECLARATIONS/@EntryValue" value="0" type="int" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_ACCESS_SPECIFIERS_FROM_CLASS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CLASS_MEMBERS_FROM_ACCESS_SPECIFIERS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/LINE_BREAK_AFTER_COLON_IN_MEMBER_INITIALIZER_LISTS/@EntryValue" value="ON_SINGLE_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/MEMBER_INITIALIZER_LIST_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_NAMESPACE_DEFINITIONS_ON_SAME_LINE/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_COLON/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_COLON/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_METHOD/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_NESTED_DECLARATOR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_METHOD/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_METHOD/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_METHOD/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BETWEEN_CLOSING_ANGLE_BRACKETS_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_DECLARATION_PARENTHESES/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_BLOCKS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_RPAR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_RPAR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_ARGUMENTS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_PARAMETERS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BREAK_TEMPLATE_DECLARATION/@EntryValue" value="LINE_BREAK" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/FREE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INVOCABLE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ANONYMOUS_METHOD_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INITIALIZER_BRACES/@EntryValue" value="END_OF_LINE_NO_SPACE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_STYLE/@EntryValue" value="Space" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_SIZE/@EntryValue" value="4" type="int" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CONTINUOUS_LINE_INDENT/@EntryValue" value="Double" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TAB_WIDTH/@EntryValue" value="4" type="int" />
|
||||
</RiderCodeStyleSettings>
|
||||
</code_scheme>
|
||||
</component>
|
||||
5
.idea/codeStyles/codeStyleConfig.xml
generated
Executable file
5
.idea/codeStyles/codeStyleConfig.xml
generated
Executable file
@@ -0,0 +1,5 @@
|
||||
<component name="ProjectCodeStyleConfiguration">
|
||||
<state>
|
||||
<option name="USE_PER_PROJECT_SETTINGS" value="true" />
|
||||
</state>
|
||||
</component>
|
||||
580
.idea/editor.xml
generated
Normal file
580
.idea/editor.xml
generated
Normal file
@@ -0,0 +1,580 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<project version="4">
|
||||
<component name="BackendCodeEditorSettings">
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppClangFormat/EnableClangFormatSupport/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/EditorConfig/EnableClangFormatSupport/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_BINARY_EXPRESSIONS_CHAIN/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_CALLS_CHAIN/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXPRESSION/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_FOR_STMT/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTIPLE_DECLARATION/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_TERNARY/@EntryValue" value="ALIGN_ALL" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_CLASS_DEFINITION/@EntryValue" value="1" type="int" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_DECLARATIONS/@EntryValue" value="2" type="int" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_CODE/@EntryValue" value="2" type="int" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_USER_LINEBREAKS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CASE_FROM_SWITCH/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_COMMENT/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INT_ALIGN_EQ/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SIMPLE_BLOCK_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_PARAMS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_SEMICOLON/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_SEMICOLON/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_UNARY_OPERATOR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_ARRAY_ACCESS_BRACKETS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_METHOD_PARENTHESES/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPECIAL_ELSE_IF_TREATMENT/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_BINARY_OPSIGN/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_TERNARY_OPSIGNS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TYPE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/OTHER_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CASE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DECLARATION/@EntryValue" value="1" type="int" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DEFINITION/@EntryValue" value="1" type="int" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_WHILE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_ELSE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_CATCH_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_INDENTATION/@EntryValue" value="All" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_ARGUMENT/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXTENDS_LIST/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_PARAMETER/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_ARGUMENT/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_PARAMETER/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_DECLARATIONS/@EntryValue" value="0" type="int" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_ACCESS_SPECIFIERS_FROM_CLASS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CLASS_MEMBERS_FROM_ACCESS_SPECIFIERS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/LINE_BREAK_AFTER_COLON_IN_MEMBER_INITIALIZER_LISTS/@EntryValue" value="ON_SINGLE_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/MEMBER_INITIALIZER_LIST_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_NAMESPACE_DEFINITIONS_ON_SAME_LINE/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_COLON/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_COLON/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_METHOD/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_NESTED_DECLARATOR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_METHOD/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_METHOD/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_METHOD/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BETWEEN_CLOSING_ANGLE_BRACKETS_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_DECLARATION_PARENTHESES/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_BLOCKS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_RPAR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_RPAR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_ARGUMENTS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_PARAMETERS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BREAK_TEMPLATE_DECLARATION/@EntryValue" value="LINE_BREAK" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/FREE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INVOCABLE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ANONYMOUS_METHOD_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INITIALIZER_BRACES/@EntryValue" value="END_OF_LINE_NO_SPACE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_STYLE/@EntryValue" value="Space" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_SIZE/@EntryValue" value="4" type="int" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CONTINUOUS_LINE_INDENT/@EntryValue" value="Double" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TAB_WIDTH/@EntryValue" value="4" type="int" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppSmartPointerVsMakeFunction/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppSmartPointerVsMakeFunction/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCStyleCast/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCStyleCast/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionalStyleCast/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionalStyleCast/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReinterpretCastFromVoidPtr/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReinterpretCastFromVoidPtr/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExplicitConvertingConstructor/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExplicitConvertingConstructor/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExplicitConversionOperator/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExplicitConversionOperator/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDiscardedPostfixOperatorResult/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDiscardedPostfixOperatorResult/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConstValueFunctionReturnType/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConstValueFunctionReturnType/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberFunctionMayBeConst/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberFunctionMayBeConst/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberFunctionMayBeStatic/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberFunctionMayBeStatic/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableMayBeConst/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableMayBeConst/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterMayBeConst/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterMayBeConst/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVariableCanBeMadeConstexpr/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVariableCanBeMadeConstexpr/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterMayBeConstPtrOrRef/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterMayBeConstPtrOrRef/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPassValueParameterByConstReference/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPassValueParameterByConstReference/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppThrowExpressionCanBeReplacedWithRethrow/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppThrowExpressionCanBeReplacedWithRethrow/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppZeroConstantCanBeReplacedWithNullptr/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppZeroConstantCanBeReplacedWithNullptr/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCompileTimeConstantCanBeReplacedWithBooleanConstant/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCompileTimeConstantCanBeReplacedWithBooleanConstant/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIfCanBeReplacedByConstexprIf/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIfCanBeReplacedByConstexprIf/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=IfStdIsConstantEvaluatedCanBeReplaced/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=IfStdIsConstantEvaluatedCanBeReplaced/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=StdIsConstantEvaluatedWillAlwaysEvaluateToConstant/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=StdIsConstantEvaluatedWillAlwaysEvaluateToConstant/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=ConstevalIfIsAlwaysConstant/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=ConstevalIfIsAlwaysConstant/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassCanBeFinal/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassCanBeFinal/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseStructuredBinding/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseStructuredBinding/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseTypeTraitAlias/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseTypeTraitAlias/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAlgorithmWithCount/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAlgorithmWithCount/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseRangeAlgorithm/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseRangeAlgorithm/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseElementsView/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseElementsView/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseStdSize/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseStdSize/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppForLoopCanBeReplacedWithWhile/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppForLoopCanBeReplacedWithWhile/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppJoinDeclarationAndAssignment/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppJoinDeclarationAndAssignment/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReplaceTieWithStructuredBinding/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReplaceTieWithStructuredBinding/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReplaceMemsetWithZeroInitialization/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReplaceMemsetWithZeroInitialization/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAssociativeContains/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAssociativeContains/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseEraseAlgorithm/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseEraseAlgorithm/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseFamiliarTemplateSyntaxForGenericLambdas/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseFamiliarTemplateSyntaxForGenericLambdas/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTooWideScope/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTooWideScope/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTooWideScopeInitStatement/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTooWideScopeInitStatement/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantNamespaceDefinition/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantNamespaceDefinition/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonInlineFunctionDefinitionInHeaderFile/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonInlineFunctionDefinitionInHeaderFile/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonInlineVariableDefinitionInHeaderFile/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonInlineVariableDefinitionInHeaderFile/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionIsNotImplemented/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionIsNotImplemented/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrivateSpecialMemberFunctionIsNotImplemented/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrivateSpecialMemberFunctionIsNotImplemented/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppHiddenFunction/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppHiddenFunction/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppHidingFunction/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppHidingFunction/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPolymorphicClassWithNonVirtualPublicDestructor/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPolymorphicClassWithNonVirtualPublicDestructor/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAbstractClassWithoutSpecifier/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAbstractClassWithoutSpecifier/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIncompleteSwitchStatement/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIncompleteSwitchStatement/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultCaseNotHandledInSwitchStatement/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPossiblyErroneousEmptyStatements/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPossiblyErroneousEmptyStatements/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppExpressionWithoutSideEffects/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppExpressionWithoutSideEffects/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNoDiscardExpression/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNoDiscardExpression/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionResultShouldBeUsed/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionResultShouldBeUsed/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMissingKeywordThrow/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMissingKeywordThrow/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDependentTypeWithoutTypenameKeyword/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDependentTemplateWithoutTemplateKeyword/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppImplicitDefaultConstructorNotAvailable/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppImplicitDefaultConstructorNotAvailable/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassNeedsConstructorBecauseOfUninitializedMember/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUninitializedNonStaticDataMember/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRangeBasedForIncompatibleReference/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppZeroValuedExpressionUsedAsNullPointer/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPossiblyUnintendedObjectSlicing/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPossiblyUninitializedMember/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorDisambiguatedAsFunction/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVirtualFunctionInFinalClass/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMustBePublicVirtualToImplementInterface/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclarationSpecifierWithoutDeclarators/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEmptyDeclaration/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclarationHidesLocal/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclarationHidesUncapturedLocal/@EntryIndexedValue" value="HINT" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMismatchedClassTags/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMismatchedClassTags/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUsingResultOfAssignmentAsCondition/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIntegralToPointerConversion/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPointerToIntegralConversion/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIncompatiblePointerConversion/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPointerConversionDropsQualifiers/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStringLiteralToCharPointerConversion/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStringLiteralToCharPointerConversion/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExceptionSafeResourceAcquisition/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExceptionSafeResourceAcquisition/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVirtualFunctionCallInsideCtor/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVirtualFunctionCallInsideCtor/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAbstractVirtualFunctionCallInCtor/@EntryIndexedValue" value="ERROR" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInvalidLineContinuation/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrintfBadFormat/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
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|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrintfMissedArg/@EntryIndexedValue" value="ERROR" type="string" />
|
||||
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|
||||
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|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatBadCode/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatLegacyCode/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatMixedArgs/@EntryIndexedValue" value="ERROR" type="string" />
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMissingIncludeGuard/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDoxygenSyntaxError/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDoxygenSyntaxError/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDoxygenUnresolvedReference/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDoxygenUnresolvedReference/@EntryIndexRemoved" />
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantParentheses/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantParentheses/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantLambdaParameterList/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantLambdaParameterList/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantCastExpression/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantCastExpression/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppHeaderHasBeenAlreadyIncluded/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppHeaderHasBeenAlreadyIncluded/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateArgumentsCanBeDeduced/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateArgumentsCanBeDeduced/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantTemplateArguments/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantTemplateArguments/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticSpecifierOnAnonymousNamespaceMember/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticSpecifierOnAnonymousNamespaceMember/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantStaticSpecifierOnMemberAllocationFunction/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantStaticSpecifierOnMemberAllocationFunction/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantStaticSpecifierOnThreadLocalLocalVariable/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantStaticSpecifierOnThreadLocalLocalVariable/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantBaseClassAccessSpecifier/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantBaseClassAccessSpecifier/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantInlineSpecifier/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantInlineSpecifier/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantConstSpecifier/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantConstSpecifier/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantBooleanExpressionArgument/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantBooleanExpressionArgument/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantVoidArgumentList/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantVoidArgumentList/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantMemberInitializer/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantMemberInitializer/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantBaseClassInitializer/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantBaseClassInitializer/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConstParameterInDeclaration/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConstParameterInDeclaration/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVolatileParameterInDeclaration/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVolatileParameterInDeclaration/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFinalFunctionInFinalClass/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFinalFunctionInFinalClass/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFinalNonOverridingVirtualFunction/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFinalNonOverridingVirtualFunction/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantElaboratedTypeSpecifier/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantElaboratedTypeSpecifier/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantDereferencingAndTakingAddress/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantDereferencingAndTakingAddress/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantConditionalExpression/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantConditionalExpression/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConditionalExpressionCanBeSimplified/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConditionalExpressionCanBeSimplified/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantExportKeyword/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantExportKeyword/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantZeroInitializerInAggregateInitialization/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantZeroInitializerInAggregateInitialization/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUserDefinedLiteralSuffixDoesNotStartWithUnderscore/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUserDefinedLiteralSuffixDoesNotStartWithUnderscore/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassIsIncomplete/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassIsIncomplete/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateParameterShadowing/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateParameterShadowing/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMutableSpecifierOnReferenceMember/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMutableSpecifierOnReferenceMember/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultInitializationWithNoUserConstructor/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultInitializationWithNoUserConstructor/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppExplicitSpecializationInNonNamespaceScope/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppExplicitSpecializationInNonNamespaceScope/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnionMemberOfReferenceType/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnionMemberOfReferenceType/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUninitializedDependentBaseClass/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUninitializedDependentBaseClass/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrecompiledHeaderIsNotIncluded/@EntryIndexedValue" value="ERROR" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrecompiledHeaderIsNotIncluded/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrecompiledHeaderNotFound/@EntryIndexedValue" value="ERROR" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrecompiledHeaderNotFound/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCoroutineCallResolveError/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCoroutineCallResolveError/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAwaiterTypeIsNotClass/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAwaiterTypeIsNotClass/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppOutParameterMustBeWritten/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppOutParameterMustBeWritten/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWarningDirective/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWarningDirective/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticAssertFailure/@EntryIndexedValue" value="ERROR" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticAssertFailure/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEvaluationFailure/@EntryIndexedValue" value="ERROR" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEvaluationFailure/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorNeverUsed/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTypeAliasNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTypeAliasNeverUsed/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConceptNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConceptNeverUsed/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassNeverUsed/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnumeratorNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnumeratorNeverUsed/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLambdaCaptureNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLambdaCaptureNeverUsed/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableWithNonTrivialDtorIsNeverUsed/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableWithNonTrivialDtorIsNeverUsed/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterNeverUsed/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterNeverUsed/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateParameterNeverUsed/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateParameterNeverUsed/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEntityAssignedButNoRead/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEntityAssignedButNoRead/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEntityUsedOnlyInUnevaluatedContext/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEntityUsedOnlyInUnevaluatedContext/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableMightNotBeInitialized/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableMightNotBeInitialized/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppObjectMemberMightNotBeInitialized/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppObjectMemberMightNotBeInitialized/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppSomeObjectMembersMightNotBeInitialized/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppSomeObjectMembersMightNotBeInitialized/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorUsedBeforeInitialization/@EntryIndexedValue" value="ERROR" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorUsedBeforeInitialization/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnusedIncludeDirective/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnusedIncludeDirective/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNotAllPathsReturnValue/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNotAllPathsReturnValue/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CDeclarationWithImplicitIntType/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CDeclarationWithImplicitIntType/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionDoesntReturnValue/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionDoesntReturnValue/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReturnNoValueInNonVoidFunction/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReturnNoValueInNonVoidFunction/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCVQualifierCanNotBeAppliedToReference/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCVQualifierCanNotBeAppliedToReference/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDereferenceOperatorLimitExceeded/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDereferenceOperatorLimitExceeded/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppForwardEnumDeclarationWithoutUnderlyingType/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppForwardEnumDeclarationWithoutUnderlyingType/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaRegionDirective/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaRegionDirective/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaEndRegionDirective/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaEndRegionDirective/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticDataMemberInUnnamedStruct/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticDataMemberInUnnamedStruct/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultIsUsedAsIdentifier/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultIsUsedAsIdentifier/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLongFloat/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLongFloat/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtReinterpretCastFromNullptr/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtReinterpretCastFromNullptr/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtBindingRValueToLvalueReference/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtBindingRValueToLvalueReference/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtAddressOfClassRValue/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtAddressOfClassRValue/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtDoubleUserConversionInCopyInit/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtDoubleUserConversionInCopyInit/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtCopyElisionInCopyInitDeclarator/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtCopyElisionInCopyInitDeclarator/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtNotInitializedStaticConstLocalVar/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtNotInitializedStaticConstLocalVar/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRemoveRedundantBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRemoveRedundantBraces/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceIfStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceIfStatementBraces/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceForStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceForStatementBraces/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceWhileStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceWhileStatementBraces/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceDoStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceDoStatementBraces/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWrongIncludesOrder/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWrongIncludesOrder/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWrongSlashesInIncludeDirective/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWrongSlashesInIncludeDirective/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceNestedNamespacesStyle/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceNestedNamespacesStyle/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceTypeAliasCodeStyle/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceTypeAliasCodeStyle/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceFunctionDeclarationStyle/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceFunctionDeclarationStyle/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberInitializersOrder/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberInitializersOrder/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceOverridingFunctionStyle/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceOverridingFunctionStyle/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceOverridingDestructorStyle/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAuto/@EntryIndexedValue" value="HINT" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAutoForNumeric/@EntryIndexedValue" value="HINT" type="string" />
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFANullDereference/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFANullDereference/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFANotInitializedField/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFANotInitializedField/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALoopConditionNotUpdated/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFADeletedPointer/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
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|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAInvalidatedMemory/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
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|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALocalValueEscapesFunction/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantParameter/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantFunctionResult/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAArrayIndexOutOfBounds/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAArrayIndexOutOfBounds/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreachableCode/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreachableCode/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreachableFunctionCall/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreachableFunctionCall/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAEndlessLoop/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAEndlessLoop/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAInfiniteRecursion/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAInfiniteRecursion/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnusedValue/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnusedValue/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreadVariable/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreadVariable/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFATimeOver/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFATimeOver/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInconsistentNaming/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInconsistentNaming/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=StringLiteralTypo/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=StringLiteralTypo/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CommentTypo/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CommentTypo/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=IdentifierTypo/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=IdentifierTypo/@EntryIndexRemoved" />
|
||||
</component>
|
||||
</project>
|
||||
2
.idea/helicopter_firmware.iml
generated
Executable file
2
.idea/helicopter_firmware.iml
generated
Executable file
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<module classpath="External" external.linked.project.id="helicopter_firmware" external.linked.project.path="$MODULE_DIR$" external.root.project.path="$MODULE_DIR$" external.system.id="PlatformIO" type="CPP_MODULE" version="4" />
|
||||
24
.idea/misc.xml
generated
Executable file
24
.idea/misc.xml
generated
Executable file
@@ -0,0 +1,24 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<project version="4">
|
||||
<component name="BackendCodeEditorMiscSettings">
|
||||
<option name="/Default/RiderDebugger/RiderRestoreDecompile/RestoreDecompileSetting/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/Housekeeping/GlobalSettingsUpgraded/IsUpgraded/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/Housekeeping/FeatureSuggestion/FeatureSuggestionManager/DisabledSuggesters/=SwitchToGoToActionSuggester/@EntryIndexedValue" value="true" type="bool" />
|
||||
<option name="/Default/Housekeeping/FeatureSuggestion/FeatureSuggestionManager/DisabledSuggesters/=SwitchToGoToActionSuggester/@EntryIndexRemoved" />
|
||||
<option name="/Default/Environment/Hierarchy/GeneratedFilesCacheKey/Timestamp/@EntryValue" value="4" type="long" />
|
||||
</component>
|
||||
<component name="ExternalStorageConfigurationManager" enabled="true" />
|
||||
<component name="PlatformIOSettings">
|
||||
<option name="linkedExternalProjectsSettings">
|
||||
<PlatformioProjectSettings>
|
||||
<option name="externalProjectPath" value="$PROJECT_DIR$" />
|
||||
<option name="modules">
|
||||
<set>
|
||||
<option value="$PROJECT_DIR$" />
|
||||
</set>
|
||||
</option>
|
||||
</PlatformioProjectSettings>
|
||||
</option>
|
||||
</component>
|
||||
<component name="PlatformIOWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
|
||||
</project>
|
||||
6
.idea/vcs.xml
generated
Executable file
6
.idea/vcs.xml
generated
Executable file
@@ -0,0 +1,6 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<project version="4">
|
||||
<component name="VcsDirectoryMappings">
|
||||
<mapping directory="" vcs="Git" />
|
||||
</component>
|
||||
</project>
|
||||
83
Barometer.h
83
Barometer.h
@@ -1,83 +0,0 @@
|
||||
#include "GyverBME280.h"
|
||||
|
||||
class Barometer {
|
||||
public:
|
||||
Barometer(GyverBME280 *bme) {
|
||||
_bme = bme;
|
||||
};
|
||||
|
||||
~Barometer() {
|
||||
delete this->_bme;
|
||||
}
|
||||
|
||||
bool initialize(void) {
|
||||
_bme->setMode(NORMAL_MODE);
|
||||
_bme->setFilter(FILTER_COEF_16);
|
||||
_bme->setTempOversampling(OVERSAMPLING_2);
|
||||
_bme->setPressOversampling(OVERSAMPLING_16);
|
||||
_bme->setStandbyTime(STANDBY_500US);
|
||||
return _bme->begin();
|
||||
}
|
||||
|
||||
void measureBaseAltitudeSync(void) {
|
||||
for(int i = 0; i < _calibrationIterationsCount; ++i){
|
||||
_startedAltitude += altitude();
|
||||
delay(1);
|
||||
}
|
||||
_startedAltitude /= _calibrationIterationsCount;
|
||||
}
|
||||
|
||||
void measureBaseAltitudeAsync(void) {
|
||||
_isStartCalibration = true;
|
||||
}
|
||||
|
||||
float rawAltitude() {
|
||||
return pressureToAltitude(_bme->readPressure())*100;
|
||||
}
|
||||
|
||||
float rawFlightHeight() {
|
||||
return rawAltitude() - _startedAltitude;
|
||||
}
|
||||
|
||||
float altitude() {
|
||||
return _filterRA(pressureToAltitude(_bme->readPressure())*100); // convert from m to cm
|
||||
}
|
||||
|
||||
float flightHeight() {
|
||||
return altitude() - _startedAltitude;
|
||||
}
|
||||
|
||||
void tick() {
|
||||
if(_isStartCalibration) {
|
||||
if(_isStartCalibration && millis() - _calibrationTimer >= _calibrationIterationDelay) {
|
||||
_startedAltitude += altitude();
|
||||
}
|
||||
if(++_calibrationIterationsCounter >= _calibrationIterationsCount) {
|
||||
_startedAltitude /= _calibrationIterationsCount;
|
||||
_isStartCalibration = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private:
|
||||
GyverBME280 *_bme = nullptr;
|
||||
float _startedAltitude = 0;
|
||||
bool _isStartCalibration = false;
|
||||
int _calibrationTimer;
|
||||
int _calibrationIterationsCounter = 0;
|
||||
const int _calibrationIterationsCount = 1500;
|
||||
const int _calibrationIterationDelay = 1; // [ms]
|
||||
|
||||
float _filterRA(float newVal) {
|
||||
// running average filter
|
||||
constexpr auto WINDOW_SIZE = 100;
|
||||
static int t = 0;
|
||||
static float vals[WINDOW_SIZE];
|
||||
static float average = 0;
|
||||
if (++t >= WINDOW_SIZE) t = 0;
|
||||
average -= vals[t];
|
||||
average += newVal;
|
||||
vals[t] = newVal;
|
||||
return ((float)average / WINDOW_SIZE);
|
||||
}
|
||||
};
|
||||
@@ -1,19 +0,0 @@
|
||||
#include "board_pins.h"
|
||||
|
||||
class BatteryController {
|
||||
public:
|
||||
BatteryController(){}
|
||||
|
||||
void initialize() {
|
||||
pinMode(BATTERY_DATA_SWITCH_PIN, OUTPUT);
|
||||
digitalWrite(BATTERY_DATA_SWITCH_PIN, HIGH);
|
||||
}
|
||||
|
||||
float measureVoltage() {
|
||||
return analogRead(BATTERY_DATA_PIN)*3.3/4095;
|
||||
}
|
||||
|
||||
int percent(int minVoltage=7200, int maxVoltage=8400) {
|
||||
return map(int(measureVoltage()*1000), minVoltage, maxVoltage, 0, 100);
|
||||
}
|
||||
};
|
||||
219
GyverBME280.cpp
219
GyverBME280.cpp
@@ -1,219 +0,0 @@
|
||||
#include "GyverBME280.h"
|
||||
|
||||
/* ============ Utilities ============ */
|
||||
|
||||
float pressureToAltitude(float pressure) {
|
||||
if (!pressure) return 0; // If the pressure module has been disabled return '0'
|
||||
pressure /= 100.0F; // Convert [Pa] to [hPa]
|
||||
return 44330.0f * (1.0f - pow(pressure / 1013.25f, 0.1903f)); // Сalculate altitude
|
||||
}
|
||||
|
||||
float pressureToMmHg(float pressure) {
|
||||
return (float)(pressure * 0.00750061683f); // Convert [Pa] to [mm Hg]
|
||||
}
|
||||
|
||||
/* ============ Setup & begin ============ */
|
||||
|
||||
GyverBME280::GyverBME280(TwoWire &wire) {
|
||||
_wire = &wire;
|
||||
}
|
||||
|
||||
bool GyverBME280::begin() {
|
||||
return begin(0x76);
|
||||
}
|
||||
|
||||
bool GyverBME280::begin(uint8_t address) {
|
||||
_i2c_address = address;
|
||||
/* === Start I2C bus & check BME280 === */
|
||||
if (!reset()) return false; // BME280 software reset & ack check
|
||||
uint8_t ID = readRegister(0xD0);
|
||||
if (ID != 0x60 && ID != 0x58) return false; // Check chip ID (bme/bmp280)
|
||||
readCalibrationData(); // Read all calibration values
|
||||
|
||||
/* === Load settings to BME280 === */
|
||||
writeRegister(0xF2, _hum_oversampl); // write hum oversampling value
|
||||
writeRegister(0xF2, readRegister(0xF2)); // rewrite hum oversampling register
|
||||
writeRegister(0xF4, ((_temp_oversampl << 5) | (_press_oversampl << 2) | _operating_mode)); // write temp & press oversampling value , normal mode
|
||||
writeRegister(0xF5, ((_standby_time << 5) | (_filter_coef << 2))); // write standby time & filter coef
|
||||
return true;
|
||||
}
|
||||
|
||||
void GyverBME280::setMode(uint8_t mode) {
|
||||
_operating_mode = mode;
|
||||
}
|
||||
|
||||
|
||||
void GyverBME280::setFilter(uint8_t mode) {
|
||||
_filter_coef = mode;
|
||||
}
|
||||
|
||||
void GyverBME280::setStandbyTime(uint8_t mode) {
|
||||
_standby_time = mode;
|
||||
}
|
||||
|
||||
void GyverBME280::setHumOversampling(uint8_t mode) {
|
||||
_hum_oversampl = mode;
|
||||
}
|
||||
|
||||
void GyverBME280::setTempOversampling(uint8_t mode) {
|
||||
_temp_oversampl = mode;
|
||||
}
|
||||
|
||||
void GyverBME280::setPressOversampling(uint8_t mode) {
|
||||
_press_oversampl = mode;
|
||||
}
|
||||
|
||||
/* ============ Reading ============ */
|
||||
|
||||
int32_t GyverBME280::readTempInt(void) {
|
||||
int32_t temp_raw = readRegister24(0xFA); // Read 24-bit value
|
||||
if (temp_raw == 0x800000) return 0; // If the temperature module has been disabled return '0'
|
||||
|
||||
temp_raw >>= 4; // Start temperature reading in integers
|
||||
int32_t value_1 = ((((temp_raw >> 3) - ((int32_t)CalibrationData._T1 << 1))) *
|
||||
((int32_t)CalibrationData._T2)) >> 11;
|
||||
int32_t value_2 = (((((temp_raw >> 4) - ((int32_t)CalibrationData._T1)) *
|
||||
((temp_raw >> 4) - ((int32_t)CalibrationData._T1))) >> 12) * ((int32_t)CalibrationData._T3)) >> 14;
|
||||
|
||||
return ((int32_t)value_1 + value_2); // Return temperature in integers
|
||||
}
|
||||
|
||||
|
||||
float GyverBME280::readTemperature(void) {
|
||||
int32_t temp_raw = readTempInt();
|
||||
float T = (temp_raw * 5 + 128) >> 8;
|
||||
return T / 100.0; // Return temperature in float
|
||||
}
|
||||
|
||||
|
||||
float GyverBME280::readPressure(void) {
|
||||
uint32_t press_raw = readRegister24(0xF7); // Read 24-bit value
|
||||
if (press_raw == 0x800000) return 0; // If the pressure module has been disabled return '0'
|
||||
|
||||
press_raw >>= 4; // Start pressure converting
|
||||
int64_t value_1 = ((int64_t)readTempInt()) - 128000;
|
||||
int64_t value_2 = value_1 * value_1 * (int64_t)CalibrationData._P6;
|
||||
value_2 = value_2 + ((value_1 * (int64_t)CalibrationData._P5) << 17);
|
||||
value_2 = value_2 + (((int64_t)CalibrationData._P4) << 35);
|
||||
value_1 = ((value_1 * value_1 * (int64_t)CalibrationData._P3) >> 8) + ((value_1 * (int64_t)CalibrationData._P2) << 12);
|
||||
value_1 = (((((int64_t)1) << 47) + value_1)) * ((int64_t)CalibrationData._P1) >> 33;
|
||||
|
||||
if (!value_1) return 0; // Avoid division by zero
|
||||
|
||||
int64_t p = 1048576 - press_raw;
|
||||
p = (((p << 31) - value_2) * 3125) / value_1;
|
||||
value_1 = (((int64_t)CalibrationData._P9) * (p >> 13) * (p >> 13)) >> 25;
|
||||
value_2 = (((int64_t)CalibrationData._P8) * p) >> 19;
|
||||
p = ((p + value_1 + value_2) >> 8) + (((int64_t)CalibrationData._P7) << 4);
|
||||
|
||||
return (float)p / 256; // Return pressure in float
|
||||
}
|
||||
|
||||
|
||||
float GyverBME280::readHumidity(void) {
|
||||
_wire->beginTransmission(_i2c_address); // Start I2C transmission
|
||||
_wire->write(0xFD); // Request humidity data register
|
||||
if (_wire->endTransmission() != 0) return 0;
|
||||
_wire->requestFrom(_i2c_address, 2); // Request humidity data
|
||||
int32_t hum_raw = ((uint16_t)_wire->read() << 8) | (uint16_t)_wire->read(); // Read humidity data
|
||||
if (hum_raw == 0x8000) return 0; // If the humidity module has been disabled return '0'
|
||||
|
||||
int32_t value = (readTempInt() - ((int32_t)76800)); // Start humidity converting
|
||||
value = (((((hum_raw << 14) - (((int32_t)CalibrationData._H4) << 20) -
|
||||
(((int32_t)CalibrationData._H5) * value)) +((int32_t)16384)) >> 15) *
|
||||
(((((((value * ((int32_t)CalibrationData._H6)) >> 10) *(((value *
|
||||
((int32_t)CalibrationData._H3)) >> 11) + ((int32_t)32768))) >> 10) +
|
||||
((int32_t)2097152)) * ((int32_t)CalibrationData._H2) + 8192) >> 14));
|
||||
value = (value - (((((value >> 15) * (value >> 15)) >> 7) * ((int32_t)CalibrationData._H1)) >> 4));
|
||||
value = (value < 0) ? 0 : value;
|
||||
value = (value > 419430400) ? 419430400 : value;
|
||||
float h = (value >> 12);
|
||||
|
||||
return h / 1024.0; // Return humidity in float
|
||||
}
|
||||
|
||||
/* ============ Misc ============ */
|
||||
|
||||
bool GyverBME280::isMeasuring(void) {
|
||||
return (bool)((readRegister(0xF3) & 0x08) >> 3); // Read status register & mask bit "measuring"
|
||||
}
|
||||
|
||||
void GyverBME280::oneMeasurement(void) {
|
||||
writeRegister(0xF4 , ((readRegister(0xF4) & 0xFC) | 0x02)); // Set the operating mode to FORCED_MODE
|
||||
}
|
||||
|
||||
/* ============ Private ============ */
|
||||
|
||||
/* = BME280 software reset = */
|
||||
bool GyverBME280::reset(void) {
|
||||
if (!writeRegister(0x0E , 0xB6)) return false;
|
||||
delay(10);
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
/* = Read and combine three BME280 registers = */
|
||||
uint32_t GyverBME280::readRegister24(uint8_t address) {
|
||||
_wire->beginTransmission(_i2c_address);
|
||||
_wire->write(address);
|
||||
if (_wire->endTransmission() != 0) return 0x800000;
|
||||
_wire->requestFrom(_i2c_address, 3);
|
||||
return (((uint32_t)_wire->read() << 16) | ((uint32_t)_wire->read() << 8) | (uint32_t)_wire->read());
|
||||
}
|
||||
|
||||
|
||||
/* = Write one 8-bit BME280 register = */
|
||||
bool GyverBME280::writeRegister(uint8_t address , uint8_t data) {
|
||||
_wire->beginTransmission(_i2c_address);
|
||||
_wire->write(address);
|
||||
_wire->write(data);
|
||||
if (_wire->endTransmission() != 0) return false;
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
/* = Read one 8-bit BME280 register = */
|
||||
uint8_t GyverBME280::readRegister(uint8_t address) {
|
||||
_wire->beginTransmission(_i2c_address);
|
||||
_wire->write(address);
|
||||
if (_wire->endTransmission() != 0) return 0;
|
||||
_wire->requestFrom(_i2c_address , 1);
|
||||
return _wire->read();
|
||||
}
|
||||
|
||||
/* = Structure to store all calibration values = */
|
||||
void GyverBME280::readCalibrationData(void) {
|
||||
/* first part request*/
|
||||
_wire->beginTransmission(_i2c_address);
|
||||
_wire->write(0x88);
|
||||
if (_wire->endTransmission() != 0) return;
|
||||
_wire->requestFrom(_i2c_address , 25);
|
||||
/* reading */
|
||||
CalibrationData._T1 = (_wire->read() | (_wire->read() << 8));
|
||||
CalibrationData._T2 = (_wire->read() | (_wire->read() << 8));
|
||||
CalibrationData._T3 = (_wire->read() | (_wire->read() << 8));
|
||||
CalibrationData._P1 = (_wire->read() | (_wire->read() << 8));
|
||||
CalibrationData._P2 = (_wire->read() | (_wire->read() << 8));
|
||||
CalibrationData._P3 = (_wire->read() | (_wire->read() << 8));
|
||||
CalibrationData._P4 = (_wire->read() | (_wire->read() << 8));
|
||||
CalibrationData._P5 = (_wire->read() | (_wire->read() << 8));
|
||||
CalibrationData._P6 = (_wire->read() | (_wire->read() << 8));
|
||||
CalibrationData._P7 = (_wire->read() | (_wire->read() << 8));
|
||||
CalibrationData._P8 = (_wire->read() | (_wire->read() << 8));
|
||||
CalibrationData._P9 = (_wire->read() | (_wire->read() << 8));
|
||||
CalibrationData._H1 = _wire->read();
|
||||
|
||||
/* second part request*/
|
||||
_wire->beginTransmission(_i2c_address);
|
||||
_wire->write(0xE1);
|
||||
_wire->endTransmission();
|
||||
_wire->requestFrom(_i2c_address , 8);
|
||||
/* reading */
|
||||
CalibrationData._H2 = (_wire->read() | (_wire->read() << 8));
|
||||
CalibrationData._H3 = _wire->read();
|
||||
CalibrationData._H4 = (_wire->read() << 4);
|
||||
uint8_t interVal = _wire->read();
|
||||
CalibrationData._H4 |= (interVal & 0xF);
|
||||
CalibrationData._H5 = (((interVal & 0xF0) >> 4) | (_wire->read() << 4));
|
||||
CalibrationData._H6 = _wire->read();
|
||||
}
|
||||
112
GyverBME280.h
112
GyverBME280.h
@@ -1,112 +0,0 @@
|
||||
/*
|
||||
Лёгкая библиотека для работы с BME280 по I2C для Arduino
|
||||
Документация:
|
||||
GitHub: https://github.com/GyverLibs/GyverBME280
|
||||
|
||||
Egor 'Nich1con' Zaharov for AlexGyver, alex@alexgyver.ru
|
||||
https://alexgyver.ru/
|
||||
MIT License
|
||||
|
||||
Версии:
|
||||
v1.3 - исправлена ошибка при отриц. температуре
|
||||
v1.4 - разбил на h и cpp
|
||||
v1.5 - добавлена поддержка BMP280s
|
||||
*/
|
||||
|
||||
#ifndef GyverBME280_h
|
||||
#define GyverBME280_h
|
||||
|
||||
#include <Arduino.h>
|
||||
#include <Wire.h>
|
||||
|
||||
#define NORMAL_MODE 0x03
|
||||
#define FORCED_MODE 0x02
|
||||
|
||||
#define STANDBY_500US 0x00
|
||||
#define STANDBY_10MS 0x06
|
||||
#define STANDBY_20MS 0x07
|
||||
#define STANDBY_6250US 0x01
|
||||
#define STANDBY_125MS 0x02
|
||||
#define STANDBY_250MS 0x03
|
||||
#define STANDBY_500MS 0x04
|
||||
#define STANDBY_1000MS 0x05
|
||||
|
||||
#define MODULE_DISABLE 0x00
|
||||
#define OVERSAMPLING_1 0x01
|
||||
#define OVERSAMPLING_2 0x02
|
||||
#define OVERSAMPLING_4 0x03
|
||||
#define OVERSAMPLING_8 0x04
|
||||
#define OVERSAMPLING_16 0x05
|
||||
|
||||
#define FILTER_DISABLE 0x00
|
||||
#define FILTER_COEF_2 0x01
|
||||
#define FILTER_COEF_4 0x02
|
||||
#define FILTER_COEF_8 0x03
|
||||
#define FILTER_COEF_16 0x04
|
||||
|
||||
|
||||
// ================================= CLASS ===================================
|
||||
|
||||
class GyverBME280 {
|
||||
|
||||
public:
|
||||
GyverBME280(TwoWire &wire); // Create an object of class BME280
|
||||
bool begin(); // Initialize sensor with standart 0x76 address
|
||||
bool begin(uint8_t address); // Initialize sensor with not standart 0x76 address
|
||||
bool isMeasuring(void); // Returns 'true' while the measurement is in progress
|
||||
float readPressure(void); // Read and calculate atmospheric pressure [float , Pa]
|
||||
float readHumidity(void); // Read and calculate air humidity [float , %]
|
||||
void oneMeasurement(void); // Make one measurement and go back to sleep [FORCED_MODE only]
|
||||
void setMode(uint8_t mode);
|
||||
float readTemperature(void); // Read and calculate air temperature [float , *C]
|
||||
void setFilter(uint8_t mode); // Adjust the filter ratio other than the standard one [before begin()]
|
||||
void setStandbyTime(uint8_t mode); // Adjust the sleep time between measurements [NORMAL_MODE only][before begin()]
|
||||
void setHumOversampling(uint8_t mode); // Set oversampling or disable humidity module [before begin()]
|
||||
void setTempOversampling(uint8_t mode); // Set oversampling or disable temperature module [before begin()]
|
||||
void setPressOversampling(uint8_t mode); // Set oversampling or disable pressure module [before begin()]
|
||||
|
||||
private:
|
||||
|
||||
//============================== DEFAULT SETTINGS ========================================|
|
||||
TwoWire *_wire = nullptr;
|
||||
int _i2c_address = 0x76; // BME280 address on I2C bus |
|
||||
uint8_t _operating_mode = NORMAL_MODE; // Sensor operation mode |
|
||||
uint8_t _standby_time = STANDBY_250MS; // Time between measurements in NORMAL_MODE |
|
||||
uint8_t _filter_coef = FILTER_COEF_16; // Filter ratio IIR |
|
||||
uint8_t _temp_oversampl = OVERSAMPLING_4; // Temperature module oversampling parameter |
|
||||
uint8_t _hum_oversampl = OVERSAMPLING_1; // Humidity module oversampling parameter |
|
||||
uint8_t _press_oversampl = OVERSAMPLING_2; // Pressure module oversampling parameter |
|
||||
//========================================================================================|
|
||||
|
||||
bool reset(void); // BME280 software reset
|
||||
int32_t readTempInt(); // Temperature reading in integers for the function of reading
|
||||
void readCalibrationData(void); // Read all cells containing calibration values
|
||||
uint8_t readRegister(uint8_t address); // Read one 8-bit BME280 register
|
||||
uint32_t readRegister24(uint8_t address); // Read and combine three BME280 registers
|
||||
bool writeRegister(uint8_t address , uint8_t data); // Write one 8-bit BME280 register
|
||||
|
||||
struct { // Structure to store all calibration values
|
||||
uint16_t _T1;
|
||||
int16_t _T2;
|
||||
int16_t _T3;
|
||||
uint16_t _P1;
|
||||
int16_t _P2;
|
||||
int16_t _P3;
|
||||
int16_t _P4;
|
||||
int16_t _P5;
|
||||
int16_t _P6;
|
||||
int16_t _P7;
|
||||
int16_t _P8;
|
||||
int16_t _P9;
|
||||
uint8_t _H1;
|
||||
int16_t _H2;
|
||||
uint8_t _H3;
|
||||
int16_t _H4;
|
||||
int16_t _H5;
|
||||
int8_t _H6;
|
||||
} CalibrationData;
|
||||
};
|
||||
|
||||
float pressureToMmHg(float pressure); // Convert [Pa] to [mm Hg]
|
||||
float pressureToAltitude(float pressure); // Convert pressure to altitude
|
||||
#endif
|
||||
@@ -1,45 +0,0 @@
|
||||
#include <BasicLinearAlgebra.h>
|
||||
|
||||
class Kalman2DFilter {
|
||||
public:
|
||||
Kalman2DFilter(float dt=4.f, float accelUncertainty=10.f, float barometerUncertainty=100.f) {
|
||||
dt /= 1000.f;
|
||||
F = {1, dt,
|
||||
0, 1};
|
||||
G = {0.5f*dt*dt,
|
||||
dt};
|
||||
H = {1,0};
|
||||
I = {1, 0,
|
||||
0, 1};
|
||||
Q = G * ~G * accelUncertainty*accelUncertainty;
|
||||
R = {barometerUncertainty*barometerUncertainty};
|
||||
P = {0, 0,
|
||||
0, 0};
|
||||
S = {0,
|
||||
0};
|
||||
}
|
||||
|
||||
void filter(const float &AccZInertial,
|
||||
const float &AltitudeBarometer,
|
||||
float &AltitudeKalman,
|
||||
float &VelocityVerticalKalman) {
|
||||
Acc = {AccZInertial};
|
||||
S = F * S + G * Acc;
|
||||
P = F * P * ~F + Q;
|
||||
L = H * P * ~H + R;
|
||||
K = P * ~H * Inverse(L);
|
||||
M = {AltitudeBarometer};
|
||||
S = S + K * (M - H * S);
|
||||
AltitudeKalman = S(0,0);
|
||||
VelocityVerticalKalman = S(1,0);
|
||||
P = (I - K * H) * P;
|
||||
}
|
||||
|
||||
private:
|
||||
BLA::Matrix<2,2> F; BLA::Matrix<2,1> G;
|
||||
BLA::Matrix<2,2> P; BLA::Matrix<2,2> Q;
|
||||
BLA::Matrix<2,1> S; BLA::Matrix<1,2> H;
|
||||
BLA::Matrix<2,2> I; BLA::Matrix<1,1> Acc;
|
||||
BLA::Matrix<2,1> K; BLA::Matrix<1,1> R;
|
||||
BLA::Matrix<1,1> L; BLA::Matrix<1,1> M;
|
||||
};
|
||||
94
MPU.h
94
MPU.h
@@ -1,94 +0,0 @@
|
||||
#include "MPU6050_6Axis_MotionApps20.h"
|
||||
#include "board_pins.h"
|
||||
#include "esp_log.h"
|
||||
|
||||
volatile bool _isDMPDataReady = false;
|
||||
void IRAM_ATTR _dmpInterruption() {_isDMPDataReady = true;}
|
||||
|
||||
class MPU {
|
||||
public:
|
||||
MPU(MPU6050_6Axis_MotionApps20 *mpu) {
|
||||
_mpu = mpu;
|
||||
}
|
||||
|
||||
~MPU() {
|
||||
delete _mpu;
|
||||
}
|
||||
|
||||
bool initialize() {
|
||||
_mpu->initialize();
|
||||
delay(250);
|
||||
if(!_mpu->testConnection()) {
|
||||
ESP_LOGE(_TAG, "MPU6050 test connection failed!");
|
||||
return false;
|
||||
}
|
||||
_mpu->setDLPFMode(MPU6050_DLPF_BW_10); // 10 Hz bandwidth
|
||||
//mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_500); // set sensivity, not recomended
|
||||
//mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_8);
|
||||
|
||||
if(_mpu->dmpInitialize()) {
|
||||
ESP_LOGE(_TAG, "Failed to initialize DMP!");
|
||||
return false;
|
||||
}
|
||||
_mpu->setDMPEnabled(true);
|
||||
attachInterrupt(MPU6050_INT_PIN, _dmpInterruption, RISING);
|
||||
return true;
|
||||
}
|
||||
|
||||
bool tick(bool &err) {
|
||||
err = false;
|
||||
if(!_isDMPDataReady) {
|
||||
return false;
|
||||
}
|
||||
if(!_mpu->dmpGetCurrentFIFOPacket(_fifoBuffer)) {
|
||||
ESP_LOGE(_TAG, "Failed to get DMP data!");
|
||||
err = true;
|
||||
return false;
|
||||
}
|
||||
|
||||
Quaternion q;
|
||||
VectorFloat gravity;
|
||||
VectorInt16 accel;
|
||||
VectorInt16 accelReal;
|
||||
|
||||
_mpu->dmpGetQuaternion(&q, _fifoBuffer);
|
||||
_mpu->dmpGetGravity(&gravity, &q);
|
||||
_mpu->dmpGetYawPitchRoll(_ypr, &q, &gravity);
|
||||
_mpu->dmpGetAccel(&accel, _fifoBuffer);
|
||||
_mpu->dmpGetLinearAccel(&accelReal, &accel, &gravity);
|
||||
_isDMPDataReady = false;
|
||||
|
||||
_ax = accel.x/8192.f;
|
||||
_ay = accel.y/8192.f;
|
||||
_az = accel.z/8192.f;
|
||||
|
||||
_calculateZInertial(gravity);
|
||||
return true;
|
||||
}
|
||||
|
||||
/* getters */
|
||||
float accZInertial() {return _AccZInertial;}
|
||||
float yaw() {return degrees(_ypr[0]);};
|
||||
float pitch() {return degrees(_ypr[1]);};
|
||||
float roll() {return degrees(_ypr[2]);};
|
||||
|
||||
private:
|
||||
MPU6050_6Axis_MotionApps20 *_mpu = nullptr;
|
||||
float _ypr[3];
|
||||
float _ax, _ay, _az;
|
||||
float _AccZInertial = 0;
|
||||
uint8_t _fifoBuffer[45];
|
||||
//volatile bool _isDMPDataReady = false;
|
||||
const char *_TAG = "MPU6050 module";
|
||||
|
||||
void _calculateZInertial(VectorFloat &gravity) {
|
||||
const float anglePitch = _ypr[1];
|
||||
const float angleRoll = _ypr[2];
|
||||
_AccZInertial = -sin(anglePitch)*_ax +
|
||||
cos(anglePitch)*
|
||||
sin(angleRoll)*_ay +
|
||||
cos(anglePitch)*
|
||||
cos(angleRoll)*_az;
|
||||
_AccZInertial = (_AccZInertial-1)*gravity.z*100;
|
||||
}
|
||||
};
|
||||
@@ -1,92 +0,0 @@
|
||||
#include "Barometer.h"
|
||||
#include "GyverBME280.h"
|
||||
#include "Wire.h"
|
||||
#include "board_pins.h"
|
||||
#include "I2Cdev.h"
|
||||
#include "Kalman2DFilter.h"
|
||||
#include "MPU6050_6Axis_MotionApps20.h"
|
||||
#include "BatteryController.h"
|
||||
#include "MPU.h"
|
||||
|
||||
TwoWire i2c = TwoWire(0);
|
||||
Barometer barometer(new GyverBME280(i2c));
|
||||
MPU mpu(new MPU6050(MPU6050_DEFAULT_ADDRESS, &i2c));
|
||||
Kalman2DFilter kalman2d(10.f, 1.f, 1.8f);
|
||||
BatteryController battery;
|
||||
|
||||
void setup() {
|
||||
Serial.begin(115200);
|
||||
i2c.begin(I2C_SDA_PIN, I2C_SCL_PIN, 400000);
|
||||
Serial.println(barometer.initialize());
|
||||
Serial.println(mpu.initialize());
|
||||
barometer.measureBaseAltitudeSync();
|
||||
battery.initialize();
|
||||
Serial.println("System initialized");
|
||||
}
|
||||
|
||||
void loop() {
|
||||
/*Serial.print("ax:");
|
||||
Serial.print(ax);
|
||||
Serial.print(",");
|
||||
Serial.print("ay:");
|
||||
Serial.print(ay);
|
||||
Serial.print(",");
|
||||
Serial.print("az:");
|
||||
Serial.print(az);
|
||||
Serial.print(",");*/
|
||||
bool err;
|
||||
barometer.tick();
|
||||
if(mpu.tick(err) && !err) {
|
||||
float kalmanAltitude, ZVelocityAltitude;
|
||||
float barometerAltitude = barometer.rawFlightHeight();
|
||||
kalman2d.filter(mpu.accZInertial(), barometerAltitude, kalmanAltitude, ZVelocityAltitude);
|
||||
//Serial.print("Yaw:");
|
||||
//Serial.print(mpu.yaw());
|
||||
//Serial.print(",");
|
||||
//Serial.print("Roll:");
|
||||
//Serial.print(mpu.roll());
|
||||
//Serial.print(",");
|
||||
//Serial.print("Pitch:");
|
||||
//Serial.print(mpu.pitch());
|
||||
//Serial.print(",");
|
||||
//Serial.print("Flight height:");
|
||||
Serial.print(barometerAltitude);
|
||||
Serial.print(",");
|
||||
//Serial.print("Kalman altitude:");
|
||||
Serial.print(kalmanAltitude);
|
||||
Serial.print(",");
|
||||
/*Serial.print(G);
|
||||
Serial.print(",");
|
||||
Serial.print(Pc);
|
||||
Serial.print(",");
|
||||
Serial.print(P);
|
||||
Serial.print(",");
|
||||
Serial.print(Xp);
|
||||
Serial.print(",");*/
|
||||
//Serial.print("Kalman2 altitude: ");
|
||||
Serial.println(ZVelocityAltitude);
|
||||
/*Serial.print("Vertical velocity:");
|
||||
Serial.print(ZVelocityAltitude);
|
||||
Serial.print(",");
|
||||
Serial.print("Battery percent: ");
|
||||
Serial.println(battery.percent());*/
|
||||
}
|
||||
|
||||
//Serial.print(",");
|
||||
/*
|
||||
//Serial.print("AccZInertial:");
|
||||
Serial.print(AccZInertial);
|
||||
Serial.print(",");
|
||||
//Serial.print("Altitude:");
|
||||
Serial.print(AltitudeBarometer);
|
||||
Serial.print(",");
|
||||
//Serial.print("kAltitude:");
|
||||
Serial.print(AltitudeKalman);
|
||||
Serial.print(",");
|
||||
//Serial.print("Battery voltage: ");
|
||||
//Serial.print(battery.measureVoltage());
|
||||
//Serial.print(",");
|
||||
//Serial.print("kZvelocity:");
|
||||
Serial.println(VelocityVerticalKalman);
|
||||
}*/
|
||||
}
|
||||
@@ -1,8 +0,0 @@
|
||||
#include "driver/adc.h"
|
||||
|
||||
#define I2C_SDA_PIN 21
|
||||
#define I2C_SCL_PIN 18
|
||||
#define MPU6050_INT_PIN 19
|
||||
#define BATTERY_ADC_CHANNEL ADC2_CHANNEL_0
|
||||
#define BATTERY_DATA_PIN 4
|
||||
#define BATTERY_DATA_SWITCH_PIN 17
|
||||
17
convert_sysincludes.py
Executable file
17
convert_sysincludes.py
Executable file
@@ -0,0 +1,17 @@
|
||||
from pathlib import Path
|
||||
Import("env" ,"projenv")
|
||||
|
||||
platform = env.PioPlatform()
|
||||
FRAMEWORK_DIR = Path(platform.get_package_dir("framework-arduinoespressif32"))
|
||||
framework_includes = list()
|
||||
filtered_cpppath = list()
|
||||
# apply these changes to current working env, the project env and the global env
|
||||
for e in (env, projenv, DefaultEnvironment()):
|
||||
for p in e["CPPPATH"]:
|
||||
# is the current include path inside the framework directory?
|
||||
if FRAMEWORK_DIR in Path(p).parents:
|
||||
framework_includes.append(p)
|
||||
else:
|
||||
filtered_cpppath.append(p)
|
||||
e.Replace(CPPPATH=filtered_cpppath)
|
||||
e.Append(CCFLAGS=[("-isystem", p) for p in framework_includes])
|
||||
70
get-platformio.py
Executable file
70
get-platformio.py
Executable file
File diff suppressed because one or more lines are too long
39
include/README
Executable file
39
include/README
Executable file
@@ -0,0 +1,39 @@
|
||||
|
||||
This directory is intended for project header files.
|
||||
|
||||
A header file is a file containing C declarations and macro definitions
|
||||
to be shared between several project source files. You request the use of a
|
||||
header file in your project source file (C, C++, etc) located in `src` folder
|
||||
by including it, with the C preprocessing directive `#include'.
|
||||
|
||||
```src/main.c
|
||||
|
||||
#include "header.h"
|
||||
|
||||
int main (void)
|
||||
{
|
||||
...
|
||||
}
|
||||
```
|
||||
|
||||
Including a header file produces the same results as copying the header file
|
||||
into each source file that needs it. Such copying would be time-consuming
|
||||
and error-prone. With a header file, the related declarations appear
|
||||
in only one place. If they need to be changed, they can be changed in one
|
||||
place, and programs that include the header file will automatically use the
|
||||
new version when next recompiled. The header file eliminates the labor of
|
||||
finding and changing all the copies as well as the risk that a failure to
|
||||
find one copy will result in inconsistencies within a program.
|
||||
|
||||
In C, the usual convention is to give header files names that end with `.h'.
|
||||
It is most portable to use only letters, digits, dashes, and underscores in
|
||||
header file names, and at most one dot.
|
||||
|
||||
Read more about using header files in official GCC documentation:
|
||||
|
||||
* Include Syntax
|
||||
* Include Operation
|
||||
* Once-Only Headers
|
||||
* Computed Includes
|
||||
|
||||
https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
|
||||
46
lib/README
Executable file
46
lib/README
Executable file
@@ -0,0 +1,46 @@
|
||||
|
||||
This directory is intended for project specific (private) libraries.
|
||||
PlatformIO will compile them to static libraries and link into executable file.
|
||||
|
||||
The source code of each library should be placed in a an own separate directory
|
||||
("lib/your_library_name/[here are source files]").
|
||||
|
||||
For example, see a structure of the following two libraries `Foo` and `Bar`:
|
||||
|
||||
|--lib
|
||||
| |
|
||||
| |--Bar
|
||||
| | |--docs
|
||||
| | |--examples
|
||||
| | |--src
|
||||
| | |- Bar.c
|
||||
| | |- Bar.h
|
||||
| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
|
||||
| |
|
||||
| |--Foo
|
||||
| | |- Foo.c
|
||||
| | |- Foo.h
|
||||
| |
|
||||
| |- README --> THIS FILE
|
||||
|
|
||||
|- platformio.ini
|
||||
|--src
|
||||
|- main.c
|
||||
|
||||
and a contents of `src/main.c`:
|
||||
```
|
||||
#include <Foo.h>
|
||||
#include <Bar.h>
|
||||
|
||||
int main (void)
|
||||
{
|
||||
...
|
||||
}
|
||||
|
||||
```
|
||||
|
||||
PlatformIO Library Dependency Finder will find automatically dependent
|
||||
libraries scanning project source files.
|
||||
|
||||
More information about PlatformIO Library Dependency Finder
|
||||
- https://docs.platformio.org/page/librarymanager/ldf.html
|
||||
48
platformio.ini
Executable file
48
platformio.ini
Executable file
@@ -0,0 +1,48 @@
|
||||
; PlatformIO Project Configuration File
|
||||
;
|
||||
; Build options: build flags, source filter
|
||||
; Upload options: custom upload port, speed and extra flags
|
||||
; Library options: dependencies, extra library storages
|
||||
; Advanced options: extra scripting
|
||||
;
|
||||
; Please visit documentation for the other options and examples
|
||||
; https://docs.platformio.org/page/projectconf.html
|
||||
|
||||
[platformio]
|
||||
default_envs = esp32dev
|
||||
|
||||
[common]
|
||||
lib_deps_builtin =
|
||||
Wire
|
||||
BluetoothSerial
|
||||
lib_deps_external =
|
||||
https://git.gogacoder.com/gogacoder/GyverBME280.git @ ~1.5.0
|
||||
https://git.gogacoder.com/gogacoder/MPU6050.git @ ~1.0.0
|
||||
https://git.gogacoder.com/gogacoder/I2Cdev.git @ ~1.0.1
|
||||
https://github.com/GyverLibs/StringUtils @ 1.2.6
|
||||
https://github.com/GyverLibs/GSON.git @ 1.1.5
|
||||
https://github.com/tomstewart89/BasicLinearAlgebra.git @ 4.3
|
||||
https://github.com/GyverLibs/mString.git @ 1.7
|
||||
https://github.com/GyverLibs/GyverPID @ 3.3
|
||||
https://github.com/pololu/vl53l0x-arduino @ 1.3.1
|
||||
https://github.com/pololu/lps-arduino
|
||||
|
||||
[env:esp32dev]
|
||||
platform = espressif32 @ 6.5.0
|
||||
board = esp32dev
|
||||
framework = arduino
|
||||
lib_deps = ${common.lib_deps_external}
|
||||
monitor_speed = 115200
|
||||
board_build.partitions = huge_app.csv
|
||||
build_src_flags =
|
||||
-std=c++2a
|
||||
-Wall
|
||||
-Wextra
|
||||
-Werror=all
|
||||
-Wno-error=pedantic
|
||||
-Wpedantic
|
||||
-O2
|
||||
build_flags = -DCORE_DEBUG_LEVEL=3
|
||||
check_tool = pvs-studio
|
||||
check_flags = pvs-studio: --analysis-mode=4 --exclude-path=.pio/libdeps --lic-file=~/.config/PVS-Studio/PVS-Studio.lic
|
||||
extra_scripts = post:convert_sysincludes.py
|
||||
39
.clang-format → src/.clang-format
Normal file → Executable file
39
.clang-format → src/.clang-format
Normal file → Executable file
@@ -1,8 +1,8 @@
|
||||
# Source: https://github.com/arduino/tooling-project-assets/tree/main/other/clang-format-configuration
|
||||
---
|
||||
TabWidth: 2
|
||||
AccessModifierOffset: -2
|
||||
AlignAfterOpenBracket: Align
|
||||
AlignArrayOfStructures: None
|
||||
AlignConsecutiveAssignments: None
|
||||
AlignConsecutiveBitFields: None
|
||||
AlignConsecutiveDeclarations: None
|
||||
@@ -17,7 +17,6 @@ AllowShortBlocksOnASingleLine: Always
|
||||
AllowShortCaseLabelsOnASingleLine: true
|
||||
AllowShortEnumsOnASingleLine: true
|
||||
AllowShortFunctionsOnASingleLine: Empty
|
||||
AllowShortIfStatementsOnASingleLine: AllIfsAndElse
|
||||
AllowShortLambdasOnASingleLine: Empty
|
||||
AllowShortLoopsOnASingleLine: true
|
||||
AlwaysBreakAfterDefinitionReturnType: None
|
||||
@@ -26,7 +25,6 @@ AlwaysBreakBeforeMultilineStrings: false
|
||||
AlwaysBreakTemplateDeclarations: No
|
||||
AttributeMacros:
|
||||
- __capability
|
||||
BasedOnStyle: LLVM
|
||||
BinPackArguments: true
|
||||
BinPackParameters: true
|
||||
BitFieldColonSpacing: Both
|
||||
@@ -59,7 +57,7 @@ BreakConstructorInitializers: BeforeColon
|
||||
BreakConstructorInitializersBeforeComma: false
|
||||
BreakInheritanceList: BeforeColon
|
||||
BreakStringLiterals: false
|
||||
ColumnLimit: 0
|
||||
ColumnLimit: 90
|
||||
CommentPragmas: ''
|
||||
CompactNamespaces: false
|
||||
ConstructorInitializerAllOnOneLineOrOnePerLine: false
|
||||
@@ -69,7 +67,6 @@ Cpp11BracedListStyle: false
|
||||
DeriveLineEnding: true
|
||||
DerivePointerAlignment: true
|
||||
DisableFormat: false
|
||||
EmptyLineAfterAccessModifier: Leave
|
||||
EmptyLineBeforeAccessModifier: Leave
|
||||
ExperimentalAutoDetectBinPacking: false
|
||||
FixNamespaceComments: false
|
||||
@@ -77,8 +74,6 @@ ForEachMacros:
|
||||
- foreach
|
||||
- Q_FOREACH
|
||||
- BOOST_FOREACH
|
||||
IfMacros:
|
||||
- KJ_IF_MAYBE
|
||||
IncludeBlocks: Preserve
|
||||
IncludeCategories:
|
||||
- Regex: '^"(llvm|llvm-c|clang|clang-c)/'
|
||||
@@ -95,20 +90,14 @@ IncludeCategories:
|
||||
CaseSensitive: false
|
||||
IncludeIsMainRegex: ''
|
||||
IncludeIsMainSourceRegex: ''
|
||||
IndentAccessModifiers: false
|
||||
IndentCaseBlocks: true
|
||||
IndentCaseLabels: true
|
||||
IndentExternBlock: Indent
|
||||
IndentGotoLabels: false
|
||||
IndentPPDirectives: None
|
||||
IndentRequires: true
|
||||
IndentWidth: 2
|
||||
IndentWrappedFunctionNames: false
|
||||
InsertTrailingCommas: None
|
||||
JavaScriptQuotes: Leave
|
||||
JavaScriptWrapImports: true
|
||||
KeepEmptyLinesAtTheStartOfBlocks: true
|
||||
LambdaBodyIndentation: Signature
|
||||
Language: Cpp
|
||||
MacroBlockBegin: ''
|
||||
MacroBlockEnd: ''
|
||||
@@ -119,26 +108,17 @@ ObjCBlockIndentWidth: 2
|
||||
ObjCBreakBeforeNestedBlockParam: true
|
||||
ObjCSpaceAfterProperty: false
|
||||
ObjCSpaceBeforeProtocolList: true
|
||||
PPIndentWidth: -1
|
||||
PackConstructorInitializers: BinPack
|
||||
PenaltyBreakAssignment: 1
|
||||
PenaltyBreakBeforeFirstCallParameter: 1
|
||||
PenaltyBreakComment: 1
|
||||
PenaltyBreakFirstLessLess: 1
|
||||
PenaltyBreakOpenParenthesis: 1
|
||||
PenaltyBreakString: 1
|
||||
PenaltyBreakTemplateDeclaration: 1
|
||||
PenaltyExcessCharacter: 1
|
||||
PenaltyIndentedWhitespace: 1
|
||||
PenaltyReturnTypeOnItsOwnLine: 1
|
||||
PointerAlignment: Right
|
||||
QualifierAlignment: Leave
|
||||
ReferenceAlignment: Pointer
|
||||
ReflowComments: false
|
||||
RemoveBracesLLVM: false
|
||||
SeparateDefinitionBlocks: Leave
|
||||
ShortNamespaceLines: 0
|
||||
SortIncludes: Never
|
||||
SortJavaStaticImport: Before
|
||||
SortUsingDeclarations: false
|
||||
SpaceAfterCStyleCast: false
|
||||
@@ -151,26 +131,14 @@ SpaceBeforeCpp11BracedList: false
|
||||
SpaceBeforeCtorInitializerColon: true
|
||||
SpaceBeforeInheritanceColon: true
|
||||
SpaceBeforeParens: ControlStatements
|
||||
SpaceBeforeParensOptions:
|
||||
AfterControlStatements: true
|
||||
AfterForeachMacros: true
|
||||
AfterFunctionDefinitionName: false
|
||||
AfterFunctionDeclarationName: false
|
||||
AfterIfMacros: true
|
||||
AfterOverloadedOperator: false
|
||||
BeforeNonEmptyParentheses: false
|
||||
SpaceBeforeRangeBasedForLoopColon: true
|
||||
SpaceBeforeSquareBrackets: false
|
||||
SpaceInEmptyBlock: false
|
||||
SpaceInEmptyParentheses: false
|
||||
SpacesBeforeTrailingComments: 2
|
||||
SpacesInAngles: Leave
|
||||
SpacesInCStyleCastParentheses: false
|
||||
SpacesInConditionalStatement: false
|
||||
SpacesInContainerLiterals: false
|
||||
SpacesInLineCommentPrefix:
|
||||
Minimum: 0
|
||||
Maximum: -1
|
||||
SpacesInParentheses: false
|
||||
SpacesInSquareBrackets: false
|
||||
Standard: Auto
|
||||
@@ -179,7 +147,7 @@ StatementAttributeLikeMacros:
|
||||
StatementMacros:
|
||||
- Q_UNUSED
|
||||
- QT_REQUIRE_VERSION
|
||||
TabWidth: 2
|
||||
#TabWidth: 2
|
||||
UseCRLF: false
|
||||
UseTab: Never
|
||||
WhitespaceSensitiveMacros:
|
||||
@@ -188,3 +156,4 @@ WhitespaceSensitiveMacros:
|
||||
- BOOST_PP_STRINGIZE
|
||||
- NS_SWIFT_NAME
|
||||
- CF_SWIFT_NAME
|
||||
IndentWidth: 4
|
||||
28
src/App.hpp
Executable file
28
src/App.hpp
Executable file
@@ -0,0 +1,28 @@
|
||||
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||
|
||||
#include "Logic/FlightDispatcher.hpp"
|
||||
#include "esp_log.h"
|
||||
|
||||
class Application {
|
||||
public:
|
||||
Application(FlightDispatcher *dispatcher) {
|
||||
assert(dispatcher != nullptr);
|
||||
_dispatcher = dispatcher;
|
||||
ESP_LOGI(_tag, "ESP_IDF version: %s", esp_get_idf_version());
|
||||
ESP_LOGI(_tag, "Application startup complete");
|
||||
}
|
||||
|
||||
void tick() {
|
||||
_dispatcher->tick();
|
||||
}
|
||||
|
||||
~Application() {
|
||||
ESP_LOGI(_tag, "Application destroyed");
|
||||
delete _dispatcher;
|
||||
}
|
||||
|
||||
private:
|
||||
FlightDispatcher *_dispatcher = nullptr;
|
||||
static constexpr const char *_tag = "Application";
|
||||
};
|
||||
23
src/BoardI2C.hpp
Executable file
23
src/BoardI2C.hpp
Executable file
@@ -0,0 +1,23 @@
|
||||
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||
|
||||
#pragma once
|
||||
|
||||
#define CONFIG_DISABLE_HAL_LOCKS 0
|
||||
|
||||
#include "Wire.h"
|
||||
#include "board_pins.h"
|
||||
#include "esp_log.h"
|
||||
|
||||
class BoardI2C : public TwoWire {
|
||||
public:
|
||||
BoardI2C() : TwoWire(0) {
|
||||
if (begin(I2C_SDA_PIN, I2C_SCL_PIN, 100000)) {
|
||||
setTimeOut(10);
|
||||
ESP_LOGI("I2CBus", "Bus initialized");
|
||||
} else {
|
||||
ESP_LOGE("I2CBus", "Failed to initialize the i2c software bus!");
|
||||
assert(false);
|
||||
}
|
||||
}
|
||||
};
|
||||
48
src/Filters/Kalman2DFilter.hpp
Executable file
48
src/Filters/Kalman2DFilter.hpp
Executable file
@@ -0,0 +1,48 @@
|
||||
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||
#pragma once
|
||||
|
||||
#include <BasicLinearAlgebra.h>
|
||||
|
||||
class Kalman2DFilter {
|
||||
public:
|
||||
Kalman2DFilter(float dt = 4.f, float accelUncertainty = 10.f, float barometerUncertainty = 100.f) {
|
||||
dt /= 1000.f;
|
||||
F = {1, dt, 0, 1};
|
||||
G = {0.5f * dt * dt, dt};
|
||||
H = {1, 0};
|
||||
I = {1, 0, 0, 1};
|
||||
Q = G * ~G * accelUncertainty * accelUncertainty;
|
||||
R = {barometerUncertainty * barometerUncertainty};
|
||||
P = {0, 0, 0, 0};
|
||||
S = {0, 0};
|
||||
}
|
||||
|
||||
void filter(const float &AccZInertial, const float &AltitudeBarometer,
|
||||
float &AltitudeKalman, float &VelocityVerticalKalman) {
|
||||
Acc = {AccZInertial};
|
||||
S = F * S + G * Acc;
|
||||
P = F * P * ~F + Q;
|
||||
L = H * P * ~H + R;
|
||||
K = P * ~H * Inverse(L);
|
||||
M = {AltitudeBarometer};
|
||||
S = S + K * (M - H * S);
|
||||
AltitudeKalman = S(0, 0);
|
||||
VelocityVerticalKalman = S(1, 0);
|
||||
P = (I - K * H) * P;
|
||||
}
|
||||
|
||||
private:
|
||||
BLA::Matrix<2, 2> F;
|
||||
BLA::Matrix<2, 1> G;
|
||||
BLA::Matrix<2, 2> P;
|
||||
BLA::Matrix<2, 2> Q;
|
||||
BLA::Matrix<2, 1> S;
|
||||
BLA::Matrix<1, 2> H;
|
||||
BLA::Matrix<2, 2> I;
|
||||
BLA::Matrix<1, 1> Acc;
|
||||
BLA::Matrix<2, 1> K;
|
||||
BLA::Matrix<1, 1> R;
|
||||
BLA::Matrix<1, 1> L;
|
||||
BLA::Matrix<1, 1> M;
|
||||
};
|
||||
47
src/Filters/kalman.hpp
Executable file
47
src/Filters/kalman.hpp
Executable file
@@ -0,0 +1,47 @@
|
||||
// упрощённый Калман для одномерного случая
|
||||
#pragma once
|
||||
|
||||
#ifndef _GKalman_h
|
||||
#define _GKalman_h
|
||||
|
||||
class GKalman {
|
||||
public:
|
||||
// разброс измерения, разброс оценки, скорость изменения значений
|
||||
GKalman(float mea_e, float est_e, float q) {
|
||||
setParameters(mea_e, est_e, q);
|
||||
}
|
||||
|
||||
// разброс измерения, скорость изменения значений (разброс измерения принимается равным разбросу оценки)
|
||||
GKalman(float mea_e, float q) {
|
||||
setParameters(mea_e, mea_e, q);
|
||||
}
|
||||
|
||||
// разброс измерения, разброс оценки, скорость изменения значений
|
||||
void setParameters(float mea_e, float est_e, float q) {
|
||||
_err_measure = mea_e;
|
||||
_err_estimate = est_e;
|
||||
_q = q;
|
||||
}
|
||||
|
||||
// разброс измерения, скорость изменения значений (разброс измерения принимается равным разбросу оценки)
|
||||
void setParameters(float mea_e, float q) {
|
||||
setParameters(mea_e, mea_e, q);
|
||||
}
|
||||
|
||||
// возвращает фильтрованное значение
|
||||
float filtered(float value) {
|
||||
float _kalman_gain, _current_estimate;
|
||||
_kalman_gain = _err_estimate / (_err_estimate + _err_measure);
|
||||
_current_estimate = _last_estimate + _kalman_gain * (value - _last_estimate);
|
||||
_err_estimate = (1.0 - _kalman_gain)*_err_estimate + fabs(_last_estimate-_current_estimate)*_q;
|
||||
_last_estimate=_current_estimate;
|
||||
return _current_estimate;
|
||||
}
|
||||
|
||||
private:
|
||||
float _err_measure = 0.0;
|
||||
float _err_estimate = 0.0;
|
||||
float _q = 0.0;
|
||||
float _last_estimate = 0.0;
|
||||
};
|
||||
#endif
|
||||
20
src/Filters/median3.hpp
Executable file
20
src/Filters/median3.hpp
Executable file
@@ -0,0 +1,20 @@
|
||||
// быстрый медианный фильтр 3-го порядка
|
||||
#pragma once
|
||||
|
||||
#ifndef _GMedian3_h
|
||||
#define _GMedian3_h
|
||||
|
||||
template < typename TYPE >
|
||||
class GMedian3 {
|
||||
public:
|
||||
TYPE filtered(TYPE value) { // возвращает фильтрованное значение
|
||||
buf[_counter] = value;
|
||||
if (++_counter > 2) _counter = 0;
|
||||
return (max(buf[0], buf[1]) == max(buf[1], buf[2])) ? max(buf[0], buf[2]) : max(buf[1], min(buf[0], buf[2]));
|
||||
}
|
||||
|
||||
private:
|
||||
TYPE buf[3];
|
||||
uint8_t _counter = 0;
|
||||
};
|
||||
#endif
|
||||
50
src/Filters/runningAverage.hpp
Executable file
50
src/Filters/runningAverage.hpp
Executable file
@@ -0,0 +1,50 @@
|
||||
// экспоненциальное бегущее среднее
|
||||
#pragma once
|
||||
|
||||
#ifndef _GFilterRA_h
|
||||
#define _GFilterRA_h
|
||||
|
||||
class GFilterRA {
|
||||
public:
|
||||
GFilterRA(){}
|
||||
|
||||
GFilterRA(float coef, uint16_t interval) {
|
||||
_coef = coef;
|
||||
_prd = interval;
|
||||
}
|
||||
|
||||
GFilterRA(float coef) {
|
||||
_coef = coef;
|
||||
}
|
||||
|
||||
void setCoef(float coef) {
|
||||
_coef = coef;
|
||||
}
|
||||
|
||||
void setPeriod(uint16_t interval) {
|
||||
_prd = interval;
|
||||
}
|
||||
|
||||
float filteredTime(float value) {
|
||||
if (millis() - _tmr >= _prd) {
|
||||
_tmr += _prd;
|
||||
filtered(value);
|
||||
}
|
||||
return _fil;
|
||||
}
|
||||
|
||||
float filtered(float value) {
|
||||
return _fil += (value - _fil) * _coef;
|
||||
}
|
||||
|
||||
//
|
||||
void setStep(uint16_t interval) {
|
||||
_prd = interval;
|
||||
}
|
||||
|
||||
private:
|
||||
float _coef = 0.0, _fil = 0.0;
|
||||
uint32_t _tmr = 0;
|
||||
uint16_t _prd = 0;
|
||||
};
|
||||
#endif
|
||||
222
src/Logic/FlightController.cpp
Executable file
222
src/Logic/FlightController.cpp
Executable file
@@ -0,0 +1,222 @@
|
||||
#include "FlightController.hpp"
|
||||
|
||||
FlightController::FlightController(
|
||||
Sensors *sensors, SavedPidRegulator *heightController, SavedPidRegulator *yawController,
|
||||
BrushedMotor *rotor1, BrushedMotor *rotor2,
|
||||
PIDController *tailRotorController, bool unlimitedBattery
|
||||
) {
|
||||
assert(sensors != nullptr);
|
||||
assert(heightController != nullptr);
|
||||
assert(yawController != nullptr);
|
||||
assert(tailRotorController != nullptr);
|
||||
assert(rotor1 != nullptr);
|
||||
assert(rotor2 != nullptr);
|
||||
|
||||
_sensors = sensors;
|
||||
_unlimitedBattery = unlimitedBattery;
|
||||
_heightController = heightController;
|
||||
_yawController = yawController;
|
||||
_tailRotorController = tailRotorController;
|
||||
_rotor1 = rotor1;
|
||||
_rotor2 = rotor2;
|
||||
|
||||
_status = DeviceStatus::Idle;
|
||||
_checkBatteryCharge();
|
||||
stopAllRotors();
|
||||
_initPidControllers();
|
||||
ESP_LOGI(_tag, "Flight controller initialized");
|
||||
}
|
||||
|
||||
FlightController::~FlightController() {
|
||||
delete _sensors;
|
||||
delete _heightController;
|
||||
delete _yawController;
|
||||
delete _tailRotorController;
|
||||
delete _rotor1;
|
||||
delete _rotor2;
|
||||
}
|
||||
|
||||
void FlightController::tick() {
|
||||
bool hasUpdates = _sensors->tick();
|
||||
_checkBatteryCharge();
|
||||
// TODO: don't apply pid values to motors while DeviceStatus != IsFlying
|
||||
switch (_status) {
|
||||
case DeviceStatus::Idle:
|
||||
break;
|
||||
case DeviceStatus::ChargeRequired:
|
||||
break;
|
||||
case DeviceStatus::IsPreparingForTakeoff:
|
||||
break;
|
||||
case DeviceStatus::IsImuCalibration:
|
||||
break;
|
||||
case DeviceStatus::IsBoarding:
|
||||
/* TODO: implement boarding */
|
||||
if (hasUpdates) {
|
||||
_boarding();
|
||||
}
|
||||
break;
|
||||
case DeviceStatus::IsFlying:
|
||||
/* TODO: implement flying */
|
||||
break;
|
||||
}
|
||||
if (hasUpdates and (_status == DeviceStatus::IsFlying or _status == DeviceStatus::IsBoarding)) {
|
||||
_tailRotorController->input = round(_sensors->mpuData().pitch * 10) / 10;
|
||||
_tailRotorController->update();
|
||||
|
||||
_heightController->input = _sensors->flightHeight();
|
||||
//auto baseDuty = (uint32_t) round(_heightController->getResultNow());
|
||||
//_rotor1->setDuty(baseDuty);
|
||||
//_rotor2->setDuty(baseDuty);
|
||||
}
|
||||
}
|
||||
|
||||
ReportedDeviceState FlightController::currentDeviceState() const {
|
||||
return {
|
||||
.batteryCharge = _sensors->batteryCharge(),
|
||||
.flightHeight = _sensors->flightHeight(),
|
||||
.status = _status,
|
||||
.mpuState = _sensors->mpuData()
|
||||
};
|
||||
}
|
||||
|
||||
void FlightController::startTakeoff() {
|
||||
/* Start preparation for takeoff */
|
||||
_checkBatteryCharge();
|
||||
if (_status != DeviceStatus::Idle)
|
||||
return;
|
||||
|
||||
_status = DeviceStatus::IsPreparingForTakeoff;
|
||||
_sensors->onMeasuaringAltitudeFinished([this]() {
|
||||
if (_status == DeviceStatus::IsPreparingForTakeoff) {
|
||||
// Preparation for takeoff is done
|
||||
_takeoff();
|
||||
}
|
||||
});
|
||||
_sensors->measureBaseAltitudeAsync();
|
||||
}
|
||||
|
||||
void FlightController::startBoarding() {
|
||||
if (_status == DeviceStatus::IsFlying) {
|
||||
_status = DeviceStatus::IsBoarding;
|
||||
}
|
||||
}
|
||||
|
||||
void FlightController::_checkBatteryCharge() {
|
||||
if (_unlimitedBattery)
|
||||
return;
|
||||
if (_sensors->batteryCharge() <= _batteryCriticalCharge) {
|
||||
if (_status == DeviceStatus::IsFlying) {
|
||||
startBoarding();
|
||||
} else {
|
||||
_status = DeviceStatus::ChargeRequired;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void FlightController::_takeoff() {
|
||||
// TODO: implement takeoff
|
||||
_status = DeviceStatus::IsFlying;
|
||||
_tailRotorController->enable();
|
||||
_heightController->integral = 0.f;
|
||||
_heightController->setpoint = _defaultFlightHeight;
|
||||
}
|
||||
|
||||
void FlightController::_boarding() {
|
||||
if (_sensors->flightHeight() <= _defaultStopMotorHeight) {
|
||||
stopAllRotors();
|
||||
} else {
|
||||
_heightController->setpoint -= _boarding_speed;
|
||||
}
|
||||
}
|
||||
|
||||
void FlightController::startImuCalibration() {
|
||||
if (_status != DeviceStatus::Idle)
|
||||
return;
|
||||
ESP_LOGI(_tag, "Started IMU calibration");
|
||||
_status = DeviceStatus::IsImuCalibration;
|
||||
_sensors->startMpuCalibration();
|
||||
_sensors->onMpuCalibrationFinished([this]() {
|
||||
this->_status = DeviceStatus::Idle;
|
||||
});
|
||||
}
|
||||
|
||||
void FlightController::moveToFlightHeight(float newFlightHeight) {
|
||||
// TODO: implement setting flight height
|
||||
}
|
||||
|
||||
void FlightController::newFlightHeightStickPosition(int16_t newFlightHeightStickPostition) {
|
||||
// TODO: implement stick input
|
||||
}
|
||||
|
||||
void FlightController::newYawStickPosition(int16_t newYawStickPostition) {
|
||||
// TODO: implement stick input
|
||||
}
|
||||
|
||||
void FlightController::newPitchStickPosition(int16_t newYawStickPostition) {
|
||||
// TODO: implement stick input
|
||||
}
|
||||
|
||||
void FlightController::setRotor1Duty(int16_t rotor1Duty) {
|
||||
{
|
||||
auto duty = (int16_t) map((long) rotor1Duty, 0, 5000, 0, 1023);
|
||||
_rotor1->setExtendedDuty(duty);
|
||||
_rotor2->setExtendedDuty(duty);
|
||||
}
|
||||
}
|
||||
|
||||
void FlightController::setRotor2Duty(int16_t rotor2Duty) {
|
||||
{
|
||||
auto duty = (int16_t) map((long) rotor2Duty, 0, 5000, 0, 1023);
|
||||
_rotor1->setExtendedDuty(duty);
|
||||
_rotor2->setExtendedDuty(duty);
|
||||
}
|
||||
}
|
||||
|
||||
void FlightController::setRotor3Duty(int16_t rotor3Duty) {
|
||||
if (_status == DeviceStatus::Idle) {
|
||||
auto duty = (int16_t) map((long) rotor3Duty, -5000, 5000, -1023, 1023);
|
||||
_tailRotorController->setRotorDuty(duty);
|
||||
}
|
||||
}
|
||||
|
||||
void FlightController::stopAllRotors() {
|
||||
_tailRotorController->disable();
|
||||
setRotor1Duty(0);
|
||||
setRotor2Duty(0);
|
||||
setRotor3Duty(0);
|
||||
_status = DeviceStatus::Idle;
|
||||
}
|
||||
|
||||
void FlightController::setHeightControllerParams(float p, float i, float d) {
|
||||
if (_status == DeviceStatus::Idle) {
|
||||
_heightController->setParams({.p = p, .i = i, .d = d});
|
||||
}
|
||||
}
|
||||
|
||||
void FlightController::setYawControllerParams(float p, float i, float d) {
|
||||
if (_status == DeviceStatus::Idle) {
|
||||
_yawController->setParams({.p = p, .i = i, .d = d});
|
||||
}
|
||||
}
|
||||
|
||||
void FlightController::setPitchControllerParams(float p, float i, float d) {
|
||||
if (_status == DeviceStatus::Idle) {
|
||||
_tailRotorController->setParams({.p = p, .i = i, .d = d});
|
||||
}
|
||||
}
|
||||
|
||||
PidSettings FlightController::pidSettings() const {
|
||||
PidSettings settings{};
|
||||
settings.flightController = {.p = _heightController->Kp, .i = _heightController->Ki, .d = _heightController->Kd};
|
||||
settings.yawController = {.p = _yawController->Kp, .i = _yawController->Ki, .d = _yawController->Kd};
|
||||
settings.pitchController = {
|
||||
.p = _tailRotorController->Kp, .i = _tailRotorController->Ki, .d = _tailRotorController->Kd
|
||||
};
|
||||
return settings;
|
||||
}
|
||||
|
||||
|
||||
void FlightController::_initPidControllers() {
|
||||
_tailRotorController->setpoint = 180.f;
|
||||
_heightController->setLimits(0, _rotor1->maxDuty());
|
||||
}
|
||||
110
src/Logic/FlightController.hpp
Executable file
110
src/Logic/FlightController.hpp
Executable file
@@ -0,0 +1,110 @@
|
||||
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||
#pragma once
|
||||
|
||||
#include "PIDController.hpp"
|
||||
#include "Sensors/Sensors.hpp"
|
||||
|
||||
enum DeviceStatus {
|
||||
Idle = 0,
|
||||
IsPreparingForTakeoff,
|
||||
IsFlying,
|
||||
IsBoarding,
|
||||
IsImuCalibration,
|
||||
ChargeRequired
|
||||
};
|
||||
|
||||
struct ReportedDeviceState {
|
||||
int batteryCharge;
|
||||
float flightHeight;
|
||||
DeviceStatus status;
|
||||
MpuData mpuState;
|
||||
};
|
||||
|
||||
struct FlightParams {
|
||||
float height; // [cm]
|
||||
float yaw; // [degrees]
|
||||
float pitch; // [degrees]
|
||||
};
|
||||
|
||||
struct PidSettings {
|
||||
PidParams flightController;
|
||||
PidParams yawController;
|
||||
PidParams pitchController;
|
||||
};
|
||||
|
||||
class FlightController {
|
||||
public:
|
||||
FlightController(Sensors *sensors, SavedPidRegulator *heightController, SavedPidRegulator *yawController,
|
||||
BrushedMotor *_rotor1, BrushedMotor *_rotor2,
|
||||
PIDController *tailRotor, bool unlimitedBattery);
|
||||
|
||||
~FlightController();
|
||||
|
||||
[[nodiscard]] ReportedDeviceState currentDeviceState() const;
|
||||
|
||||
void startTakeoff();
|
||||
|
||||
void startBoarding();
|
||||
|
||||
void startImuCalibration();
|
||||
|
||||
void tick();
|
||||
|
||||
[[deprecated]] void moveToFlightHeight(float newFlightHeight); //[cm]
|
||||
[[deprecated]] void newFlightHeightStickPosition(int16_t newFlightHeightStickPostition);
|
||||
|
||||
[[deprecated]] void newYawStickPosition(int16_t newYawStickPostition);
|
||||
|
||||
[[deprecated]] void newPitchStickPosition(int16_t newPitchStickPostition);
|
||||
|
||||
void setRotor1Duty(int16_t rotor1Duty);
|
||||
|
||||
void setRotor2Duty(int16_t rotor2Duty);
|
||||
|
||||
void setRotor3Duty(int16_t rotor3Duty);
|
||||
|
||||
void stopAllRotors();
|
||||
|
||||
void setHeightControllerParams(float p, float i, float d);
|
||||
|
||||
void setYawControllerParams(float p, float i, float d);
|
||||
|
||||
void setPitchControllerParams(float p, float i, float d);
|
||||
|
||||
[[nodiscard]] PidSettings pidSettings() const;
|
||||
|
||||
private:
|
||||
void _checkBatteryCharge();
|
||||
|
||||
void _initPidControllers();
|
||||
|
||||
void _updateSetpoints();
|
||||
|
||||
void _updatePidControllers();
|
||||
|
||||
void _takeoff();
|
||||
|
||||
void _boarding();
|
||||
|
||||
Sensors *_sensors = nullptr;
|
||||
SavedPidRegulator *_heightController = nullptr;
|
||||
SavedPidRegulator *_yawController = nullptr;
|
||||
PIDController *_tailRotorController = nullptr;
|
||||
BrushedMotor *_rotor1 = nullptr;
|
||||
BrushedMotor *_rotor2 = nullptr;
|
||||
DeviceStatus _status;
|
||||
//uint32_t _flightTimer;
|
||||
//float _verticalVelocityOffset = 0.f; // [cm/10 ms]
|
||||
//float _pitchVelocityOffset = 0.f; // [degrees/10 ms]
|
||||
|
||||
static constexpr const char *_tag = "FlightController";
|
||||
static constexpr uint8_t _batteryCriticalCharge = 15; // [%]
|
||||
static constexpr float _defaultFlightHeight = 55.f; // [cm]
|
||||
static constexpr float _defaultHorizontAngle = 180.f; // [degrees]
|
||||
static constexpr float _boarding_speed = 0.1; // [cm/10 ms]
|
||||
static constexpr float _defaultStopMotorHeight = 15; // [cm]
|
||||
|
||||
|
||||
bool _unlimitedBattery = false; // for debug purposes
|
||||
};
|
||||
189
src/Logic/FlightDispatcher.cpp
Executable file
189
src/Logic/FlightDispatcher.cpp
Executable file
@@ -0,0 +1,189 @@
|
||||
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||
|
||||
#include "FlightDispatcher.hpp"
|
||||
|
||||
FlightDispatcher::FlightDispatcher(BluetoothDispatcher *bluetoothDispatcher,
|
||||
FlightController *flightController, volatile bool loop_on_fail) {
|
||||
assert(bluetoothDispatcher != nullptr);
|
||||
assert(flightController != nullptr);
|
||||
|
||||
_bluetoothDispatcher = bluetoothDispatcher;
|
||||
_flightController = flightController;
|
||||
|
||||
bluetoothDispatcher->onNewDeviceConnected([this](BTAddress device) {
|
||||
this->_onNewDeviceConnected(device);
|
||||
});
|
||||
bluetoothDispatcher->onNewPackageReceived([this](char *package) {
|
||||
this->_onNewMessageReceived(package);
|
||||
});
|
||||
|
||||
if (_bluetoothDispatcher->initialize()) {
|
||||
ESP_LOGI(_tag, "Bluetooth initialized successfully.");
|
||||
} else {
|
||||
ESP_LOGE(_tag, "Failed to initialize Bluetooth dispatcher!");
|
||||
while (loop_on_fail);
|
||||
}
|
||||
_telemetryTimer = millis();
|
||||
}
|
||||
|
||||
FlightDispatcher::~FlightDispatcher() {
|
||||
delete _bluetoothDispatcher;
|
||||
delete _flightController;
|
||||
}
|
||||
|
||||
void FlightDispatcher::tick() {
|
||||
_flightController->tick();
|
||||
_bluetoothDispatcher->tick();
|
||||
if (millis() - _telemetryTimer >= _telemetryTimeIntervalMS) {
|
||||
_sendTelemetry();
|
||||
_telemetryTimer = millis();
|
||||
}
|
||||
}
|
||||
|
||||
void FlightDispatcher::_onNewDeviceConnected(BTAddress device) {
|
||||
_sendTelemetry();
|
||||
}
|
||||
|
||||
void FlightDispatcher::_onNewMessageReceived(char *package) {
|
||||
using sutil::SH;
|
||||
ESP_LOGD(_tag, "Received new package: %s", package);
|
||||
gson::Doc pkg;
|
||||
if (!pkg.parse(package, _jsonMaxDepth)) {
|
||||
ESP_LOGE(_tag, "Parcing error occured with new package (error %s, place %d): %s",
|
||||
pkg.readError(), pkg.errorIndex(), package);
|
||||
} else {
|
||||
pkg.hashKeys();
|
||||
for (int keyIndex = 0; keyIndex < pkg.length(); ++keyIndex) {
|
||||
auto pair = pkg[pkg.keyHash(keyIndex)];
|
||||
auto value = pair.value();
|
||||
|
||||
if (!pair.valid()) {
|
||||
continue;
|
||||
}
|
||||
|
||||
switch (pkg.keyHash(keyIndex)) {
|
||||
case SH("status"):
|
||||
_changeStatus((DeviceStatus) value.toInt32());
|
||||
break;
|
||||
case SH("flightHeight"):
|
||||
_flightController->moveToFlightHeight(value.toFloat());
|
||||
break;
|
||||
case SH("hS"):
|
||||
_flightController->newFlightHeightStickPosition(value.toInt16());
|
||||
break;
|
||||
case SH("yS"):
|
||||
_flightController->newYawStickPosition(value.toInt16());
|
||||
break;
|
||||
case SH("pS"):
|
||||
_flightController->newPitchStickPosition(value.toInt16());
|
||||
break;
|
||||
case SH("r1"):
|
||||
_flightController->setRotor1Duty(value.toInt16());
|
||||
break;
|
||||
case SH("r2"):
|
||||
_flightController->setRotor2Duty(value.toInt16());
|
||||
break;
|
||||
case SH("r3"):
|
||||
_flightController->setRotor3Duty(value.toInt16());
|
||||
break;
|
||||
case SH("stop"):
|
||||
_flightController->stopAllRotors();
|
||||
break;
|
||||
case SH("p1"):
|
||||
if (pair.type() == gson::Type::Object and pair.includes(SH("p"))
|
||||
and pair.includes(SH("i")) and pair.includes(SH("d"))) {
|
||||
_flightController->setHeightControllerParams(
|
||||
pair[SH("p")].toFloat(), pair[SH("i")].toFloat(), pair[SH("d")].toFloat());
|
||||
}
|
||||
break;
|
||||
case SH("p2"):
|
||||
if (pair.type() == gson::Type::Object and pair.includes(SH("p"))
|
||||
and pair.includes(SH("i")) and pair.includes(SH("d"))) {
|
||||
_flightController->setPitchControllerParams(
|
||||
pair[SH("p")].toFloat(), pair[SH("i")].toFloat(), pair[SH("d")].toFloat());
|
||||
}
|
||||
break;
|
||||
case SH("p3"):
|
||||
if (pair.type() == gson::Type::Object and pair.includes(SH("p"))
|
||||
and pair.includes(SH("i")) and pair.includes(SH("d"))) {
|
||||
_flightController->setYawControllerParams(
|
||||
pair[SH("p")].toFloat(), pair[SH("i")].toFloat(), pair[SH("d")].toFloat());
|
||||
}
|
||||
break;
|
||||
case SH("pidSettingOpened"):
|
||||
_pidSettingsOpened();
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void FlightDispatcher::_changeStatus(const DeviceStatus &newStatus) {
|
||||
switch (newStatus) {
|
||||
case DeviceStatus::IsImuCalibration:
|
||||
_flightController->startImuCalibration();
|
||||
break;
|
||||
case DeviceStatus::IsFlying:
|
||||
_flightController->startTakeoff();
|
||||
break;
|
||||
case DeviceStatus::IsPreparingForTakeoff:
|
||||
_flightController->startTakeoff();
|
||||
break;
|
||||
case DeviceStatus::IsBoarding:
|
||||
_flightController->startBoarding();
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void FlightDispatcher::_pidSettingsOpened() {
|
||||
auto settings = _flightController->pidSettings();
|
||||
gson::string pkg;
|
||||
pkg.beginObj();
|
||||
|
||||
pkg.beginObj("p1");
|
||||
pkg.addFloat("p", settings.flightController.p, 5);
|
||||
pkg.addFloat("i", settings.flightController.i, 5);
|
||||
pkg.addFloat("d", settings.flightController.d, 5);
|
||||
pkg.endObj();
|
||||
|
||||
pkg.beginObj("p2");
|
||||
pkg.addFloat("p", settings.pitchController.p, 5);
|
||||
pkg.addFloat("i", settings.pitchController.i, 5);
|
||||
pkg.addFloat("d", settings.pitchController.d, 5);
|
||||
pkg.endObj();
|
||||
|
||||
pkg.beginObj("p3");
|
||||
pkg.addFloat("p", settings.yawController.p, 5);
|
||||
pkg.addFloat("i", settings.yawController.i, 5);
|
||||
pkg.addFloat("d", settings.yawController.d, 5);
|
||||
pkg.endObj();
|
||||
|
||||
pkg.endObj();
|
||||
pkg.end();
|
||||
pkg.s = String(MessageType::PidSettings) + ";" + pkg.s;
|
||||
_bluetoothDispatcher->sendPackage(pkg.s.c_str());
|
||||
ESP_LOGI(_tag, "PID settings sended %s", pkg.s.c_str());
|
||||
}
|
||||
|
||||
void FlightDispatcher::_sendTelemetry() {
|
||||
/* Notify mobile client about device state */
|
||||
auto state = _flightController->currentDeviceState();
|
||||
gson::string package;
|
||||
package.beginObj();
|
||||
package["charge"] = state.batteryCharge;
|
||||
package["flightHeight"] = state.flightHeight;
|
||||
package["status"] = state.status;
|
||||
package["y"] = state.mpuState.yaw;
|
||||
package["p"] = state.mpuState.pitch;
|
||||
package["r"] = state.mpuState.roll;
|
||||
package["zIn"] = state.mpuState.zInertial;
|
||||
package.endObj();
|
||||
package.end();
|
||||
package.s = String(MessageType::UpdatePackage) + ";" + package.s;
|
||||
_bluetoothDispatcher->sendPackage(package.s.c_str());
|
||||
}
|
||||
47
src/Logic/FlightDispatcher.hpp
Executable file
47
src/Logic/FlightDispatcher.hpp
Executable file
@@ -0,0 +1,47 @@
|
||||
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||
#pragma once
|
||||
|
||||
#include "FlightController.hpp"
|
||||
#include "GSON.h"
|
||||
#include "RF/BluetoothDispatcher.hpp"
|
||||
#include <map>
|
||||
|
||||
// Message type annotation for mobile app
|
||||
enum MessageType {
|
||||
UpdatePackage = 0, PidSettings
|
||||
};
|
||||
|
||||
class FlightDispatcher {
|
||||
/* Deserialize state and update it in FlightController. */
|
||||
public:
|
||||
FlightDispatcher(BluetoothDispatcher *bluetoothDispatcher,
|
||||
FlightController *flightController, volatile bool loop_on_fail = true);
|
||||
|
||||
~FlightDispatcher();
|
||||
|
||||
void tick();
|
||||
|
||||
private:
|
||||
/* Telemetry flow */
|
||||
void _sendTelemetry();
|
||||
|
||||
/* Events handlers */
|
||||
void _onNewDeviceConnected(BTAddress device);
|
||||
|
||||
void _onNewMessageReceived(char *package);
|
||||
|
||||
/* Requests handlers */
|
||||
void _changeStatus(const DeviceStatus &newStatus);
|
||||
|
||||
void _pidSettingsOpened();
|
||||
|
||||
/* Compile time settings */
|
||||
static constexpr const char *_tag = "FlightDispatcher";
|
||||
static constexpr const int _telemetryTimeIntervalMS = 200;
|
||||
static constexpr const uint8_t _jsonMaxDepth = 5;
|
||||
|
||||
uint32_t _telemetryTimer = millis();
|
||||
BluetoothDispatcher *_bluetoothDispatcher;
|
||||
FlightController *_flightController;
|
||||
};
|
||||
55
src/Logic/PIDController.hpp
Executable file
55
src/Logic/PIDController.hpp
Executable file
@@ -0,0 +1,55 @@
|
||||
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "Motor/BrushedMotor.hpp"
|
||||
#include "SavedPidRegulator.hpp"
|
||||
#include "esp_log.h"
|
||||
|
||||
|
||||
class PIDController : public SavedPidRegulator {
|
||||
public:
|
||||
PIDController(float p, float i, float d, BrushedMotor *rotor,
|
||||
const char *name = "PID", uint16_t dt = 10, const bool isEnabled = false)
|
||||
: SavedPidRegulator(p, i, d, name, dt) {
|
||||
assert(rotor != nullptr);
|
||||
_rotor = rotor;
|
||||
_isEnabled = isEnabled;
|
||||
setLimits(-_rotor->maxDuty(), _rotor->maxDuty());
|
||||
setDirection(REVERSE);
|
||||
_pid_timer = millis();
|
||||
ESP_LOGI(_tag, "PID %s initialized with params (%f, %f, %f)", name, Kp, Ki, Kd);
|
||||
}
|
||||
|
||||
void enable() {
|
||||
_isEnabled = true;
|
||||
_rotor->setDuty(0);
|
||||
integral = 0;
|
||||
}
|
||||
|
||||
void disable() {
|
||||
_isEnabled = false;
|
||||
_rotor->setDuty(0);
|
||||
}
|
||||
|
||||
void update() {
|
||||
if (_isEnabled) {
|
||||
//ESP_LOGI(_tag, "Setpoint: %f", setpoint);
|
||||
//ESP_LOGI(_tag, "Input: %f", input);
|
||||
//ESP_LOGI(_tag, "Output: %d", (int16_t) round(getResultNow()));
|
||||
setRotorDuty((int16_t) round(getResultNow()));
|
||||
}
|
||||
}
|
||||
|
||||
void setRotorDuty(int16_t duty) {
|
||||
/* Used only for test purposes */
|
||||
_rotor->setExtendedDuty(duty);
|
||||
}
|
||||
|
||||
private:
|
||||
//uint16_t _dt;
|
||||
BrushedMotor *_rotor = nullptr;
|
||||
uint32_t _pid_timer = 0;
|
||||
bool _isEnabled = false;
|
||||
};
|
||||
73
src/Logic/SavedPidRegulator.hpp
Executable file
73
src/Logic/SavedPidRegulator.hpp
Executable file
@@ -0,0 +1,73 @@
|
||||
#pragma once
|
||||
#include "GyverPID.h"
|
||||
#include "Preferences.h"
|
||||
#include "esp_log.h"
|
||||
#include <memory>
|
||||
|
||||
struct PidParams {
|
||||
float p;
|
||||
float i;
|
||||
float d;
|
||||
};
|
||||
|
||||
class SavedPidRegulator : public GyverPID {
|
||||
public:
|
||||
SavedPidRegulator(float p, float i, float d, const char *name = "saved_pid", const uint16_t dt = 10)
|
||||
: GyverPID(p, i, d, static_cast<int16_t>(dt)) {
|
||||
_name = name;
|
||||
_preferences.begin(name);
|
||||
_pDefault = p;
|
||||
_iDefault = i;
|
||||
_dDefault = d;
|
||||
_loadPreferences();
|
||||
ESP_LOGI(_tag, "PID %s initialized with params (%f, %f, %f)", _name.c_str(), Kp, Ki, Kd);
|
||||
}
|
||||
|
||||
void setParams(PidParams params) {
|
||||
this->Kp = params.p;
|
||||
this->Ki = params.i;
|
||||
this->Kd = params.d;
|
||||
save();
|
||||
}
|
||||
|
||||
PidParams getParams() {
|
||||
PidParams params{};
|
||||
params.p = Kp;
|
||||
params.i = Ki;
|
||||
params.d = Kd;
|
||||
return params;
|
||||
}
|
||||
|
||||
void resetToDefault() {
|
||||
this->Kp = _pDefault;
|
||||
this->Ki = _iDefault;
|
||||
this->Kd = _dDefault;
|
||||
save();
|
||||
}
|
||||
|
||||
void save() {
|
||||
_preferences.putFloat("p", Kp);
|
||||
_preferences.putFloat("i", Ki);
|
||||
_preferences.putFloat("d", Kd);
|
||||
ESP_LOGI(_tag, "PID %s saved with params (%f, %f, %f)", _name.c_str(), Kp, Ki, Kd);
|
||||
}
|
||||
|
||||
protected:
|
||||
static constexpr const char *_tag = "PIDController";
|
||||
|
||||
private:
|
||||
float _pDefault = 0.f;
|
||||
float _iDefault = 0.f;
|
||||
float _dDefault = 0.f;
|
||||
|
||||
String _name = "PID";
|
||||
Preferences _preferences;
|
||||
|
||||
void _loadPreferences() {
|
||||
if (_preferences.isKey("p") and _preferences.isKey("i") and _preferences.isKey("d")) {
|
||||
Kp = _preferences.getFloat("p", _pDefault);
|
||||
Ki = _preferences.getFloat("i", _iDefault);
|
||||
Kd = _preferences.getFloat("d", _dDefault);
|
||||
}
|
||||
}
|
||||
};
|
||||
77
src/Motor/BrushedMotor.cpp
Executable file
77
src/Motor/BrushedMotor.cpp
Executable file
@@ -0,0 +1,77 @@
|
||||
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||
|
||||
#include "BrushedMotor.hpp"
|
||||
|
||||
BrushedMotor::BrushedMotor(uint32_t pwmAGpioNum, uint32_t pwmBGpioNum, uint32_t frequency,
|
||||
uint8_t channel, uint8_t resolution, const char *name, bool forward_directional) {
|
||||
_resolution = resolution;
|
||||
_pwmAGpioNum = pwmAGpioNum;
|
||||
_pwmBGpioNum = pwmBGpioNum;
|
||||
_channel = channel;
|
||||
_frequency = frequency;
|
||||
_forward_directional = forward_directional;
|
||||
_tag_name = name;
|
||||
pinMode(_pwmAGpioNum, OUTPUT);
|
||||
pinMode(_pwmBGpioNum, OUTPUT);
|
||||
ledcAttachPin(_pwmAGpioNum, _channel);
|
||||
ledcSetup(_channel, _frequency, _resolution);
|
||||
coast();
|
||||
}
|
||||
|
||||
void BrushedMotor::setDuty(uint32_t duty) const {
|
||||
ledcWrite(_channel, duty);
|
||||
}
|
||||
|
||||
void BrushedMotor::decrement(uint32_t k) const {
|
||||
ledcWrite(_channel, ledcRead(_channel) - k);
|
||||
}
|
||||
|
||||
void BrushedMotor::setExtendedDuty(int32_t duty) {
|
||||
if (duty > 0) {
|
||||
forward();
|
||||
} else if (duty < 0) {
|
||||
backward();
|
||||
}
|
||||
setDuty(abs(duty));
|
||||
}
|
||||
|
||||
uint32_t BrushedMotor::maxDuty() const {
|
||||
return pow(2, _resolution) - 1;
|
||||
}
|
||||
|
||||
void BrushedMotor::_apply_directional() const {
|
||||
auto current_duty = ledcRead(_channel);
|
||||
if (_forward_directional) {
|
||||
ledcDetachPin(_pwmBGpioNum);
|
||||
ledcAttachPin(_pwmAGpioNum, _channel);
|
||||
} else {
|
||||
ledcDetachPin(_pwmAGpioNum);
|
||||
ledcAttachPin(_pwmBGpioNum, _channel);
|
||||
}
|
||||
setDuty(current_duty);
|
||||
}
|
||||
|
||||
void BrushedMotor::forward() {
|
||||
if (_forward_directional)
|
||||
return;
|
||||
ESP_LOGI(_tag_name.c_str(), "Moving forward");
|
||||
_forward_directional = true;
|
||||
_apply_directional();
|
||||
}
|
||||
|
||||
void BrushedMotor::backward() {
|
||||
if (!_forward_directional)
|
||||
return;
|
||||
_forward_directional = false;
|
||||
_apply_directional();
|
||||
}
|
||||
|
||||
void BrushedMotor::reverse() {
|
||||
_forward_directional = !_forward_directional;
|
||||
_apply_directional();
|
||||
}
|
||||
|
||||
void BrushedMotor::coast() const {
|
||||
setDuty(0);
|
||||
}
|
||||
43
src/Motor/BrushedMotor.hpp
Executable file
43
src/Motor/BrushedMotor.hpp
Executable file
@@ -0,0 +1,43 @@
|
||||
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||
#pragma once
|
||||
|
||||
#include <cstdint>
|
||||
#include "Arduino.h"
|
||||
#include <cstring>
|
||||
|
||||
|
||||
class BrushedMotor {
|
||||
// TODO: rewrite with MCPWM
|
||||
public:
|
||||
BrushedMotor(uint32_t pwmAGpioNum, uint32_t pwmBGpioNum, uint32_t frequency,
|
||||
uint8_t channel, uint8_t resolution, const char *name = "Rotor1", bool forward_directional = true);
|
||||
|
||||
void setDuty(uint32_t duty) const;
|
||||
|
||||
void setExtendedDuty(int32_t duty);
|
||||
|
||||
[[nodiscard]] uint32_t maxDuty() const;
|
||||
|
||||
void forward();
|
||||
|
||||
void backward();
|
||||
|
||||
void reverse();
|
||||
|
||||
void coast() const;
|
||||
|
||||
void decrement(uint32_t k) const;
|
||||
|
||||
private:
|
||||
uint8_t _channel;
|
||||
uint32_t _frequency;
|
||||
uint32_t _resolution;
|
||||
|
||||
uint32_t _pwmAGpioNum;
|
||||
uint32_t _pwmBGpioNum;
|
||||
bool _forward_directional;
|
||||
String _tag_name = "BrushedMotor";
|
||||
|
||||
void _apply_directional() const;
|
||||
};
|
||||
107
src/RF/BluetoothDispatcher.cpp
Executable file
107
src/RF/BluetoothDispatcher.cpp
Executable file
@@ -0,0 +1,107 @@
|
||||
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||
|
||||
#include "BluetoothDispatcher.hpp"
|
||||
|
||||
static DeviceConnectedCb deviceConnectedCallback = nullptr;
|
||||
|
||||
static void deviceConnectedStaticCallback(esp_spp_cb_event_t event, esp_spp_cb_param_t *param);
|
||||
|
||||
BluetoothDispatcher::BluetoothDispatcher(BluetoothSerial *controller, const char *device_name) {
|
||||
assert(controller != nullptr);
|
||||
assert(device_name != nullptr);
|
||||
|
||||
_device_name = device_name;
|
||||
_controller = controller;
|
||||
}
|
||||
|
||||
bool BluetoothDispatcher::initialize(int readTimeoutMS) {
|
||||
bool success = _controller->begin(_device_name, false);
|
||||
_controller->enableSSP();
|
||||
_controller->onConfirmRequest([this](uint16_t pin) {
|
||||
_onConfirmRequest(pin);
|
||||
});
|
||||
_controller->onAuthComplete([this](boolean success) {
|
||||
_onAuthComplete(success);
|
||||
});
|
||||
_controller->register_callback(deviceConnectedStaticCallback);
|
||||
deviceConnectedCallback = [this](BTAddress device) {
|
||||
_onDeviceConnected(device);
|
||||
};
|
||||
//_controller->setTimeout(readTimeoutMS);
|
||||
if (!success) {
|
||||
ESP_LOGI(_tag, "Failed to initialize Bluetooth controller!");
|
||||
assert(false);
|
||||
} else {
|
||||
ESP_LOGI(_tag, "Bluetooth host initialized");
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
void BluetoothDispatcher::onNewPackageReceived(NewPackageCallback newPackageReceivedCb) {
|
||||
_newPackageReceivedCb = std::move(newPackageReceivedCb);
|
||||
}
|
||||
|
||||
void BluetoothDispatcher::tick(const char message_delimeter) {
|
||||
/* Call the callback, if new package received */
|
||||
/* Warning! Logging below can cause errors and freezes */
|
||||
while (_controller->available()) {
|
||||
int c = _controller->read();
|
||||
if (c == -1) {
|
||||
_buffer.clear();
|
||||
} else if (c == message_delimeter) {
|
||||
if (_newPackageReceivedCb) {
|
||||
_newPackageReceivedCb(_buffer.buf);
|
||||
}
|
||||
_buffer.clear();
|
||||
} else {
|
||||
_buffer += (char) c;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
BluetoothDispatcher::~BluetoothDispatcher() {
|
||||
_controller->end();
|
||||
delete _controller;
|
||||
}
|
||||
|
||||
void BluetoothDispatcher::_onConfirmRequest(uint16_t pin) {
|
||||
ESP_LOGI(_tag, "The Bluetooth PIN is: %06lu", (long unsigned int) pin);
|
||||
_controller->confirmReply(true);
|
||||
}
|
||||
|
||||
void BluetoothDispatcher::_onAuthComplete(boolean success) const {
|
||||
if (success) {
|
||||
ESP_LOGI(_tag, "Pairing success!");
|
||||
} else {
|
||||
ESP_LOGI(_tag, "Pairing failed, rejected by user!");
|
||||
}
|
||||
}
|
||||
|
||||
void BluetoothDispatcher::_onDeviceConnected(BTAddress device) {
|
||||
ESP_LOGI(_tag, "New device connected: %s", device.toString(true).c_str());
|
||||
_buffer.clear();
|
||||
_controller->flush();
|
||||
if (_deviceConnectedCallback) {
|
||||
_deviceConnectedCallback(device);
|
||||
}
|
||||
}
|
||||
|
||||
void BluetoothDispatcher::onNewDeviceConnected(DeviceConnectedCb deviceConnectedCb) {
|
||||
/* Callback called if device connected successfully. */
|
||||
_deviceConnectedCallback = std::move(deviceConnectedCb);
|
||||
}
|
||||
|
||||
void BluetoothDispatcher::sendPackage(const char *package) {
|
||||
if (!_controller->hasClient())
|
||||
return;
|
||||
_controller->println(package);
|
||||
}
|
||||
|
||||
|
||||
static void deviceConnectedStaticCallback(esp_spp_cb_event_t event, esp_spp_cb_param_t *param) {
|
||||
if (event == ESP_SPP_SRV_OPEN_EVT and param->srv_open.status == ESP_SPP_SUCCESS
|
||||
and deviceConnectedCallback) {
|
||||
deviceConnectedCallback(BTAddress(param->srv_open.rem_bda));
|
||||
}
|
||||
}
|
||||
62
src/RF/BluetoothDispatcher.hpp
Executable file
62
src/RF/BluetoothDispatcher.hpp
Executable file
@@ -0,0 +1,62 @@
|
||||
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||
#pragma once
|
||||
|
||||
#define TX_QUEUE_SIZE 512
|
||||
|
||||
#include "BluetoothSerial.h"
|
||||
#include "HardwareSerial.h"
|
||||
#include "esp_log.h"
|
||||
#include "mString.h"
|
||||
|
||||
/* Check the ESP configuration */
|
||||
#if not defined(CONFIG_BT_ENABLED) || not defined(CONFIG_BLUEDROID_ENABLED)
|
||||
#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
|
||||
#endif
|
||||
|
||||
|
||||
#if not defined(CONFIG_BT_SPP_ENABLED)
|
||||
#error Serial Port Profile for Bluetooth is not available or not enabled. It is only available for the ESP32 chip.
|
||||
#endif
|
||||
|
||||
|
||||
#if not defined(CONFIG_BT_SSP_ENABLED)
|
||||
#error Simple Secure Pairing for Bluetooth is not available or not enabled.
|
||||
#endif
|
||||
/* ************************* */
|
||||
|
||||
typedef std::function<void(BTAddress device)> DeviceConnectedCb;
|
||||
typedef std::function<void(char *package)> NewPackageCallback;
|
||||
|
||||
class BluetoothDispatcher {
|
||||
public:
|
||||
BluetoothDispatcher(BluetoothSerial *controller, const char *device_name = "Helicopter");
|
||||
|
||||
bool initialize(int readTimeoutMS = 10);
|
||||
|
||||
void tick(const char message_delimeter = '\n');
|
||||
|
||||
void onNewPackageReceived(NewPackageCallback newPackageReceivedCb);
|
||||
|
||||
void onNewDeviceConnected(DeviceConnectedCb deviceConnectedCb);
|
||||
|
||||
void sendPackage(const char *package);
|
||||
|
||||
~BluetoothDispatcher();
|
||||
|
||||
private:
|
||||
void _onConfirmRequest(uint16_t pin);
|
||||
|
||||
void _onAuthComplete(boolean success) const;
|
||||
|
||||
void _onDeviceConnected(BTAddress device);
|
||||
|
||||
const char *_device_name = nullptr;
|
||||
BluetoothSerial *_controller = nullptr;
|
||||
DeviceConnectedCb _deviceConnectedCallback = nullptr;
|
||||
NewPackageCallback _newPackageReceivedCb = nullptr;
|
||||
constexpr static const char *_tag = "BluetoothDispatcher";
|
||||
|
||||
static constexpr uint16_t _buffer_size = 512;
|
||||
mString<_buffer_size> _buffer;
|
||||
};
|
||||
82
src/Sensors/Barometer.hpp
Normal file
82
src/Sensors/Barometer.hpp
Normal file
@@ -0,0 +1,82 @@
|
||||
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||
#pragma once
|
||||
|
||||
#include "GyverBME280.h"
|
||||
|
||||
typedef std::function<void()> OnMeasuringFinishedCb;
|
||||
|
||||
class Barometer {
|
||||
public:
|
||||
explicit Barometer(GyverBME280 *bme) {
|
||||
assert(bme != nullptr);
|
||||
_bme = bme;
|
||||
}
|
||||
|
||||
~Barometer() {
|
||||
delete this->_bme;
|
||||
}
|
||||
|
||||
bool initialize(void) {
|
||||
_bme->setMode(NORMAL_MODE);
|
||||
_bme->setFilter(FILTER_COEF_16);
|
||||
_bme->setTempOversampling(OVERSAMPLING_2);
|
||||
_bme->setPressOversampling(OVERSAMPLING_16);
|
||||
_bme->setStandbyTime(STANDBY_500US);
|
||||
return _bme->begin();
|
||||
}
|
||||
|
||||
void measureBaseAltitudeSync(void) {
|
||||
for (int i = 0; i < _calibrationIterationsCount; ++i) {
|
||||
_startedAltitude += altitude();
|
||||
delay(_calibrationIterationDelay);
|
||||
}
|
||||
_startedAltitude /= _calibrationIterationsCount;
|
||||
}
|
||||
|
||||
void measureBaseAltitudeAsync(void) {
|
||||
_calibrationIterationsCounter = 0;
|
||||
_calibrationTimer = millis();
|
||||
_isCalibration = true;
|
||||
_startedAltitude = 0.f;
|
||||
}
|
||||
|
||||
float altitude() /* [cm] */ {
|
||||
return pressureToAltitude(_bme->readPressure()) * 100;
|
||||
}
|
||||
|
||||
float flightHeight() /* [cm] */ {
|
||||
if (_isCalibration)
|
||||
return 0.f;
|
||||
return round(altitude() - _startedAltitude);
|
||||
}
|
||||
|
||||
void onMeasuaringHeightFinished(OnMeasuringFinishedCb callback) {
|
||||
_measuaringHeightFinishedCb = std::move(callback);
|
||||
}
|
||||
|
||||
void tick() {
|
||||
if (_isCalibration) {
|
||||
if (millis() - _calibrationTimer >= _calibrationIterationDelay) {
|
||||
_startedAltitude += altitude();
|
||||
}
|
||||
if (++_calibrationIterationsCounter >= _calibrationIterationsCount) {
|
||||
_startedAltitude /= _calibrationIterationsCount;
|
||||
_isCalibration = false;
|
||||
if (_measuaringHeightFinishedCb) {
|
||||
_measuaringHeightFinishedCb();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private:
|
||||
GyverBME280 *_bme;
|
||||
float _startedAltitude = 0.f;
|
||||
bool _isCalibration = false;
|
||||
uint32_t _calibrationTimer = 0;
|
||||
int _calibrationIterationsCounter = 0;
|
||||
OnMeasuringFinishedCb _measuaringHeightFinishedCb = nullptr;
|
||||
static constexpr int _calibrationIterationsCount = 800;
|
||||
static constexpr int _calibrationIterationDelay = 1; // [ms]
|
||||
};
|
||||
81
src/Sensors/BarometerBMP280.hpp
Executable file
81
src/Sensors/BarometerBMP280.hpp
Executable file
@@ -0,0 +1,81 @@
|
||||
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||
#pragma once
|
||||
|
||||
#include "GyverBME280.h"
|
||||
|
||||
typedef std::function<void()> OnMeasuringFinishedCb;
|
||||
|
||||
class Barometer {
|
||||
public:
|
||||
Barometer(GyverBME280 *bme) {
|
||||
_bme = bme;
|
||||
};
|
||||
|
||||
~Barometer() {
|
||||
delete this->_bme;
|
||||
}
|
||||
|
||||
bool initialize(void) {
|
||||
_bme->setMode(NORMAL_MODE);
|
||||
_bme->setFilter(FILTER_COEF_16);
|
||||
_bme->setTempOversampling(OVERSAMPLING_2);
|
||||
_bme->setPressOversampling(OVERSAMPLING_16);
|
||||
_bme->setStandbyTime(STANDBY_500US);
|
||||
return _bme->begin();
|
||||
}
|
||||
|
||||
void measureBaseAltitudeSync(void) {
|
||||
for (int i = 0; i < _calibrationIterationsCount; ++i) {
|
||||
_startedAltitude += altitude();
|
||||
delay(_calibrationIterationDelay);
|
||||
}
|
||||
_startedAltitude /= _calibrationIterationsCount;
|
||||
}
|
||||
|
||||
void measureBaseAltitudeAsync(void) {
|
||||
_calibrationIterationsCounter = 0;
|
||||
_calibrationTimer = millis();
|
||||
_isCalibration = true;
|
||||
_startedAltitude = 0.f;
|
||||
}
|
||||
|
||||
float altitude() /* [cm] */ {
|
||||
return pressureToAltitude(_bme->readPressure()) * 100;
|
||||
}
|
||||
|
||||
float flightHeight() /* [cm] */ {
|
||||
if (_isCalibration)
|
||||
return 0.f;
|
||||
else return round(altitude() - _startedAltitude);
|
||||
}
|
||||
|
||||
void onMeasuaringHeightFinished(OnMeasuringFinishedCb callback) {
|
||||
_measuaringHeightFinishedCb = std::move(callback);
|
||||
}
|
||||
|
||||
void tick() {
|
||||
if (_isCalibration) {
|
||||
if (millis() - _calibrationTimer >= _calibrationIterationDelay) {
|
||||
_startedAltitude += altitude();
|
||||
}
|
||||
if (++_calibrationIterationsCounter >= _calibrationIterationsCount) {
|
||||
_startedAltitude /= _calibrationIterationsCount;
|
||||
_isCalibration = false;
|
||||
if (_measuaringHeightFinishedCb) {
|
||||
_measuaringHeightFinishedCb();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private:
|
||||
GyverBME280 *_bme;
|
||||
float _startedAltitude = 0.f;
|
||||
bool _isCalibration = false;
|
||||
uint32_t _calibrationTimer = 0;
|
||||
int _calibrationIterationsCounter = 0;
|
||||
OnMeasuringFinishedCb _measuaringHeightFinishedCb = nullptr;
|
||||
static constexpr int _calibrationIterationsCount = 800;
|
||||
static constexpr int _calibrationIterationDelay = 1; // [ms]
|
||||
};
|
||||
40
src/Sensors/BatteryController.hpp
Executable file
40
src/Sensors/BatteryController.hpp
Executable file
@@ -0,0 +1,40 @@
|
||||
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||
#pragma once
|
||||
|
||||
#include "board_pins.h"
|
||||
|
||||
|
||||
class BatteryController {
|
||||
public:
|
||||
BatteryController(const uint16_t batteryPin, const uint16_t battery_data_switch_pin) {
|
||||
_battery_pin = batteryPin;
|
||||
_battery_data_switch_pin = battery_data_switch_pin;
|
||||
}
|
||||
|
||||
void initialize() const {
|
||||
pinMode(_battery_data_switch_pin, OUTPUT);
|
||||
digitalWrite(_battery_data_switch_pin, HIGH);
|
||||
analogReadResolution(12);
|
||||
analogSetWidth(12);
|
||||
adcAttachPin(_battery_pin);
|
||||
}
|
||||
|
||||
int percent(const float minVoltage = 7.2f, const float maxVoltage = 8.4f,
|
||||
const float r1 = 3.f, const float r2 = 2.f, const float k = 2.85f) {
|
||||
// It's magic. I will return and refactor it.
|
||||
float pinVoltage = analogReadMilliVolts(_battery_pin) / 1000.f;
|
||||
// k = (r1 + r2) / r2
|
||||
float batteryVoltage = pinVoltage * k;
|
||||
return constrain(_map(batteryVoltage, minVoltage, maxVoltage, 0, 100), 0, 100);
|
||||
}
|
||||
|
||||
private:
|
||||
uint16_t _battery_pin;
|
||||
uint16_t _battery_data_switch_pin;
|
||||
static constexpr const char *_tag = "BatteryController";
|
||||
|
||||
static float _map(float x, float in_min, float in_max, float out_min, float out_max) {
|
||||
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
|
||||
}
|
||||
};
|
||||
274
src/Sensors/MPU.hpp
Executable file
274
src/Sensors/MPU.hpp
Executable file
@@ -0,0 +1,274 @@
|
||||
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||
#pragma once
|
||||
|
||||
#include "MPU6050_6Axis_MotionApps20.h"
|
||||
#include "Preferences.h"
|
||||
#include "board_pins.h"
|
||||
#include "esp_log.h"
|
||||
|
||||
static volatile bool _isDMPDataReady = false;
|
||||
|
||||
static void IRAM_ATTR _dmpInterruption() {
|
||||
_isDMPDataReady = true;
|
||||
}
|
||||
|
||||
typedef std::function<void()> OnCalibrationFinishedCb;
|
||||
|
||||
class MPU {
|
||||
public:
|
||||
MPU(MPU6050_6Axis_MotionApps20 *mpu) {
|
||||
assert(mpu != nullptr);
|
||||
_mpu = mpu;
|
||||
}
|
||||
|
||||
~MPU() {
|
||||
delete _mpu;
|
||||
}
|
||||
|
||||
bool initialize() {
|
||||
_mpu->initialize();
|
||||
|
||||
if (!_preferences.begin("imu")) {
|
||||
ESP_LOGE(_TAG, "Failed to open the preferences!");
|
||||
} else {
|
||||
_loadOffsets();
|
||||
}
|
||||
|
||||
delay(250);
|
||||
if (!_mpu->testConnection()) {
|
||||
ESP_LOGE(_TAG, "MPU6050 test connection failed!");
|
||||
return false;
|
||||
}
|
||||
_mpu->setDLPFMode(MPU6050_DLPF_BW_10); // 10 Hz bandwidth
|
||||
//mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_500); // set sensivity, not recommended
|
||||
//mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_8);
|
||||
|
||||
if (_mpu->dmpInitialize()) {
|
||||
ESP_LOGE(_TAG, "Failed to initialize DMP!");
|
||||
return false;
|
||||
}
|
||||
_mpu->setDMPEnabled(true);
|
||||
attachInterrupt(MPU6050_INT_PIN, _dmpInterruption, RISING);
|
||||
return true;
|
||||
}
|
||||
|
||||
bool tick(bool &err) {
|
||||
err = false;
|
||||
if (!_isDMPDataReady) {
|
||||
return false;
|
||||
}
|
||||
if (!_mpu->dmpGetCurrentFIFOPacket(_fifoBuffer)) {
|
||||
ESP_LOGE(_TAG, "Failed to get DMP data!");
|
||||
err = true;
|
||||
return false;
|
||||
}
|
||||
|
||||
Quaternion q;
|
||||
VectorFloat gravity;
|
||||
VectorInt16 accel;
|
||||
VectorInt16 gyro;
|
||||
VectorInt16 accelReal;
|
||||
|
||||
_mpu->dmpGetQuaternion(&q, _fifoBuffer);
|
||||
_mpu->dmpGetGravity(&gravity, &q);
|
||||
_mpu->dmpGetYawPitchRoll(_ypr, &q, &gravity);
|
||||
_mpu->dmpGetAccel(&accel, _fifoBuffer);
|
||||
_mpu->dmpGetGyro(&gyro, _fifoBuffer);
|
||||
_mpu->dmpGetLinearAccel(&accelReal, &accel, &gravity);
|
||||
_isDMPDataReady = false;
|
||||
|
||||
_ax = accel.x / 8192.f;
|
||||
_ay = accel.y / 8192.f;
|
||||
_az = accel.z / 8192.f;
|
||||
|
||||
_gx = gyro.x / 131.f;
|
||||
_gy = gyro.y / 131.f;
|
||||
_gz = gyro.z / 131.f;
|
||||
|
||||
_calculateZInertial(gravity);
|
||||
|
||||
if (_isCalibration) {
|
||||
if (_calibrationsIterCounter >= _calibrationIterCount) {
|
||||
_axOffset /= _calibrationsIterCounter;
|
||||
_ayOffset /= _calibrationsIterCounter;
|
||||
_azOffset /= _calibrationsIterCounter;
|
||||
|
||||
_gxOffset /= _calibrationsIterCounter;
|
||||
_gyOffset /= _calibrationsIterCounter;
|
||||
_gzOffset /= _calibrationsIterCounter;
|
||||
|
||||
_prOffset[0] /= _calibrationsIterCounter;
|
||||
_prOffset[1] /= _calibrationsIterCounter;
|
||||
|
||||
_prOffset[0] = DEG_TO_RAD * (180 - RAD_TO_DEG * _prOffset[0]);
|
||||
_prOffset[1] = DEG_TO_RAD * (180 - RAD_TO_DEG * _prOffset[1]);
|
||||
ESP_LOGI(_TAG, "Calibration offsets: roll: %f, pitch: %f", RAD_TO_DEG * _prOffset[1],
|
||||
RAD_TO_DEG * _prOffset[0]);
|
||||
|
||||
_isCalibration = false;
|
||||
_updateOffsets();
|
||||
_calibrationsIterCounter = 0;
|
||||
if (_calibrationFinishedCb) {
|
||||
_calibrationFinishedCb();
|
||||
}
|
||||
ESP_LOGI(_TAG, "Calibration finished!");
|
||||
} else {
|
||||
_axOffset += _ax;
|
||||
_ayOffset += _ay;
|
||||
_azOffset += _az;
|
||||
_gxOffset += _gx;
|
||||
_gyOffset += _gy;
|
||||
_gzOffset += _gz;
|
||||
_prOffset[0] += pitch() * DEG_TO_RAD;
|
||||
_prOffset[1] += roll() * DEG_TO_RAD;
|
||||
_calibrationsIterCounter++;
|
||||
ESP_LOGI(_TAG, "Angles on calibration: roll: %f, pitch: %f", roll(),
|
||||
pitch());
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/* getters */
|
||||
float accZInertial() const {
|
||||
return _AccZInertial;
|
||||
}
|
||||
|
||||
float yaw() const {
|
||||
return degrees(_ypr[0]) + 180.f;
|
||||
}
|
||||
|
||||
float pitch() const {
|
||||
if (_isCalibration) {
|
||||
return 360.f - (degrees(_ypr[1]) + 180);
|
||||
} else {
|
||||
return 360.f - (degrees(_ypr[1]) + 180) + degrees(_prOffset[0]);
|
||||
}
|
||||
}
|
||||
|
||||
float roll() const {
|
||||
if (_isCalibration) {
|
||||
return 360.f - (degrees(_ypr[2]) + 180);
|
||||
} else {
|
||||
return 360.f - (degrees(_ypr[2] + _prOffset[1]) + 180) + degrees(_prOffset[1]);
|
||||
}
|
||||
}
|
||||
|
||||
float ax() const {
|
||||
if (_isCalibration) {
|
||||
return _ax;
|
||||
} else {
|
||||
return _ax - _axOffset;
|
||||
}
|
||||
}
|
||||
|
||||
float ay() const {
|
||||
if (_isCalibration) {
|
||||
return _ay;
|
||||
} else {
|
||||
return _ay - _ayOffset;
|
||||
}
|
||||
}
|
||||
|
||||
float az() const {
|
||||
if (_isCalibration) {
|
||||
return _az;
|
||||
} else {
|
||||
return _az - _azOffset;
|
||||
}
|
||||
}
|
||||
|
||||
float gravityZ() const {
|
||||
return _gravity;
|
||||
}
|
||||
|
||||
float gx() const {
|
||||
if (_isCalibration) {
|
||||
return _gx;
|
||||
} else {
|
||||
return _gx - _gxOffset;
|
||||
}
|
||||
}
|
||||
|
||||
float gy() const {
|
||||
if (_isCalibration) {
|
||||
return _gy;
|
||||
} else {
|
||||
return _gy - _gyOffset;
|
||||
}
|
||||
}
|
||||
|
||||
float gz() const {
|
||||
if (_isCalibration) {
|
||||
return _gz;
|
||||
} else {
|
||||
return _gz - _gzOffset;
|
||||
}
|
||||
}
|
||||
|
||||
void startCalibration() {
|
||||
_isCalibration = true;
|
||||
}
|
||||
|
||||
void onCalibrationFinished(OnCalibrationFinishedCb callback) {
|
||||
_calibrationFinishedCb = callback;
|
||||
}
|
||||
|
||||
private:
|
||||
MPU6050_6Axis_MotionApps20 *_mpu = nullptr;
|
||||
float _ypr[3] = {0};
|
||||
float _ax = 0, _ay = 0, _az = 0;
|
||||
float _gx = 0, _gy = 0, _gz = 0;
|
||||
float _gravity = 0;
|
||||
float _AccZInertial = 0;
|
||||
|
||||
float _axOffset = 0, _ayOffset = 0, _azOffset = 0;
|
||||
float _gxOffset = 0, _gyOffset = 0, _gzOffset = 0;
|
||||
float _prOffset[2] = {0}; // yaw isn't used
|
||||
|
||||
uint8_t _fifoBuffer[45] = {0};
|
||||
Preferences _preferences;
|
||||
|
||||
const char *_TAG = "MPU6050 module";
|
||||
static constexpr const int _calibrationIterCount = 250;
|
||||
|
||||
bool _isCalibration = false;
|
||||
int _calibrationsIterCounter = 0;
|
||||
OnCalibrationFinishedCb _calibrationFinishedCb = nullptr;
|
||||
|
||||
void _calculateZInertial(VectorFloat &gravity) {
|
||||
const float anglePitch = _ypr[1];
|
||||
const float angleRoll = _ypr[2];
|
||||
_gravity = gravity.z;
|
||||
|
||||
_AccZInertial = -sin(anglePitch) * _ax + cos(anglePitch) * sin(angleRoll) * _ay
|
||||
+ cos(anglePitch) * cos(angleRoll) * _az;
|
||||
_AccZInertial = (_AccZInertial - 1) * gravity.z * 100.f;
|
||||
}
|
||||
|
||||
void _loadOffsets() {
|
||||
_axOffset = _preferences.getFloat("ax", 0.f);
|
||||
_ayOffset = _preferences.getFloat("ax", 0.f);
|
||||
_azOffset = _preferences.getFloat("az", 0.f);
|
||||
_gxOffset = _preferences.getFloat("gx", 0.f);
|
||||
_gyOffset = _preferences.getFloat("gy", 0.f);
|
||||
_gzOffset = _preferences.getFloat("gz", 0.f);
|
||||
_prOffset[0] = _preferences.getFloat("pitch", 0.f);
|
||||
_prOffset[1] = _preferences.getFloat("roll", 0.f);
|
||||
ESP_LOGI(_TAG, "Offsets loaded: pitch: %f, roll %f", _prOffset[0], _prOffset[1]);
|
||||
}
|
||||
|
||||
void _updateOffsets() {
|
||||
_preferences.putFloat("ax", _axOffset);
|
||||
_preferences.putFloat("ay", _ayOffset);
|
||||
_preferences.putFloat("az", _azOffset);
|
||||
_preferences.putFloat("gx", _gxOffset);
|
||||
_preferences.putFloat("gy", _gyOffset);
|
||||
_preferences.putFloat("gz", _gzOffset);
|
||||
_preferences.putFloat("pitch", _prOffset[0]);
|
||||
_preferences.putFloat("roll", _prOffset[1]);
|
||||
ESP_LOGI(_TAG, "Offsets saved.");
|
||||
}
|
||||
};
|
||||
13
src/Sensors/RangingSensor.cpp
Executable file
13
src/Sensors/RangingSensor.cpp
Executable file
@@ -0,0 +1,13 @@
|
||||
#include "RangingSensor.hpp"
|
||||
#include "esp_log.h"
|
||||
|
||||
RangingSensor::RangingSensor() {
|
||||
}
|
||||
|
||||
void RangingSensor::startFlight() {
|
||||
}
|
||||
|
||||
void RangingSensor::tick() {
|
||||
}
|
||||
|
||||
uint32_t RangingSensor::getDistance() { return 0; }
|
||||
22
src/Sensors/RangingSensor.hpp
Executable file
22
src/Sensors/RangingSensor.hpp
Executable file
@@ -0,0 +1,22 @@
|
||||
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||
#pragma once
|
||||
|
||||
#ifndef HELICOPTER_FIRMWARE_RANGINGSENSOR_H
|
||||
#define HELICOPTER_FIRMWARE_RANGINGSENSOR_H
|
||||
|
||||
#include "Arduino.h"
|
||||
|
||||
class RangingSensor {
|
||||
public:
|
||||
RangingSensor();
|
||||
|
||||
void tick();
|
||||
|
||||
void startFlight();
|
||||
|
||||
uint32_t getDistance();
|
||||
};
|
||||
|
||||
|
||||
#endif //HELICOPTER_FIRMWARE_RANGINGSENSOR_H
|
||||
140
src/Sensors/Sensors.cpp
Executable file
140
src/Sensors/Sensors.cpp
Executable file
@@ -0,0 +1,140 @@
|
||||
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||
|
||||
#include "Sensors.hpp"
|
||||
|
||||
Sensors::Sensors(Barometer *barometer, RangingSensor *ranging_sensor, MPU *mpu, Kalman2DFilter *filter,
|
||||
BatteryController *battery, HeightSensor heightSensor) {
|
||||
assert(barometer != nullptr);
|
||||
assert(mpu != nullptr);
|
||||
assert(filter != nullptr);
|
||||
assert(battery != nullptr);
|
||||
assert(ranging_sensor != nullptr);
|
||||
|
||||
_barometer = barometer;
|
||||
_mpu = mpu;
|
||||
_2d_filter = filter;
|
||||
_battery = battery;
|
||||
_ranging_sensor = ranging_sensor;
|
||||
_heightSensor = heightSensor;
|
||||
|
||||
ESP_LOGI(_tag, "Initialize BMP280...");
|
||||
if (_barometer->initialize()) {
|
||||
ESP_LOGI(_tag, "BMP280 initialized");
|
||||
} else {
|
||||
ESP_LOGI(_tag, "BMP280 initialization failed!");
|
||||
assert(false);
|
||||
}
|
||||
|
||||
ESP_LOGI(_tag, "Initialize MPU6050...");
|
||||
if (_mpu->initialize()) {
|
||||
ESP_LOGI(_tag, "MPU6050 initialized");
|
||||
} else {
|
||||
ESP_LOGI(_tag, "MPU6050 initialization failed!");
|
||||
//assert(false);
|
||||
}
|
||||
|
||||
_battery->initialize();
|
||||
ESP_LOGI(_tag, "BatteryController initialized");
|
||||
|
||||
ESP_LOGI(_tag, "Sensors initialized");
|
||||
}
|
||||
|
||||
Sensors::~Sensors() {
|
||||
delete _barometer;
|
||||
delete _mpu;
|
||||
delete _2d_filter;
|
||||
delete _battery;
|
||||
delete _ranging_sensor;
|
||||
}
|
||||
|
||||
void Sensors::measureBaseAltitudeSync(void) {
|
||||
_barometer->measureBaseAltitudeSync();
|
||||
}
|
||||
|
||||
void Sensors::measureBaseAltitudeAsync(void) {
|
||||
if (_heightSensor == HeightSensor::RangeMeterOnly) {
|
||||
_ranging_sensor->startFlight();
|
||||
if (_onMeasuaringAltitudeFinished) {
|
||||
_onMeasuaringAltitudeFinished();
|
||||
}
|
||||
return;
|
||||
}
|
||||
_barometer->measureBaseAltitudeAsync();
|
||||
}
|
||||
|
||||
float Sensors::rawFlightHeight(void) const {
|
||||
/* Returns flight height from barometer immediately */
|
||||
switch (_heightSensor) {
|
||||
case HeightSensor::Hybrid:
|
||||
if (_barometer->flightHeight() >= 200.f) {
|
||||
return _barometer->flightHeight();
|
||||
} else {
|
||||
return (float) _ranging_sensor->getDistance();
|
||||
}
|
||||
case HeightSensor::BarometerOnly:
|
||||
return _barometer->flightHeight();
|
||||
case HeightSensor::RangeMeterOnly:
|
||||
return (float) _ranging_sensor->getDistance();
|
||||
default:
|
||||
return _barometer->flightHeight();
|
||||
}
|
||||
}
|
||||
|
||||
float Sensors::flightHeight(void) const {
|
||||
/* Returns flight height from cache immediately */
|
||||
return _flightHeightFromBarometer;
|
||||
}
|
||||
|
||||
MpuData Sensors::mpuData() const {
|
||||
if (_mpuData.ax == 0.f and _mpuData.gravity == 0.f) {
|
||||
ESP_LOGW(_tag, "MPU data looks like .tick() has never called");
|
||||
}
|
||||
return _mpuData;
|
||||
}
|
||||
|
||||
bool Sensors::tick(void) {
|
||||
/* Super loop iteraion */
|
||||
/* Return true on update */
|
||||
_barometer->tick();
|
||||
_ranging_sensor->tick();
|
||||
bool err;
|
||||
bool isMpuDataReady = _mpu->tick(err);
|
||||
if (isMpuDataReady and !err) {
|
||||
_2d_filter->filter(_mpu->accZInertial(), _barometer->flightHeight(),
|
||||
_flightHeightFromBarometer, _zVelocityAltitude);
|
||||
_zVelocityAltitude = _mpu->accZInertial();
|
||||
_mpuData = {.ax = _mpu->ax(),
|
||||
.ay = _mpu->ay(),
|
||||
.az = _mpu->az(),
|
||||
.gx = _mpu->gx(),
|
||||
.gy = _mpu->gy(),
|
||||
.gz = _mpu->gz(),
|
||||
.yaw = _mpu->yaw(),
|
||||
.pitch = _mpu->pitch(),
|
||||
.roll = _mpu->roll(),
|
||||
.gravity = _mpu->gravityZ(),
|
||||
.zInertial = _mpu->accZInertial()};
|
||||
return true;
|
||||
} else if (err) {
|
||||
ESP_LOGE(_tag, "Failed to get DMP data!");
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
int Sensors::batteryCharge(void) const {
|
||||
return _battery->percent();
|
||||
}
|
||||
|
||||
void Sensors::onMpuCalibrationFinished(OnCalibrationFinishedCb callback) {
|
||||
_mpu->onCalibrationFinished(callback);
|
||||
}
|
||||
|
||||
void Sensors::startMpuCalibration() {
|
||||
_mpu->startCalibration();
|
||||
}
|
||||
|
||||
void Sensors::onMeasuaringAltitudeFinished(OnMeasuringFinishedCb callback) {
|
||||
_onMeasuaringAltitudeFinished = callback;
|
||||
_barometer->onMeasuaringHeightFinished(std::move(callback));
|
||||
}
|
||||
71
src/Sensors/Sensors.hpp
Executable file
71
src/Sensors/Sensors.hpp
Executable file
@@ -0,0 +1,71 @@
|
||||
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||
|
||||
#pragma once
|
||||
#include "Barometer.hpp"
|
||||
#include "BatteryController.hpp"
|
||||
#include "Filters/Kalman2DFilter.hpp"
|
||||
#include "RangingSensor.hpp"
|
||||
#include "MPU.hpp"
|
||||
#include "esp_log.h"
|
||||
|
||||
/* Sensors module provides cached and filtered sensors values */
|
||||
|
||||
struct MpuData {
|
||||
float ax, ay, az;
|
||||
float gx, gy, gz;
|
||||
float yaw, pitch, roll;
|
||||
float gravity;
|
||||
float zInertial;
|
||||
};
|
||||
|
||||
enum HeightSensor {
|
||||
RangeMeterOnly,
|
||||
BarometerOnly,
|
||||
Hybrid
|
||||
};
|
||||
|
||||
class Sensors {
|
||||
public:
|
||||
Sensors(Barometer *barometer, RangingSensor *rangingSensor, MPU *mpu, Kalman2DFilter *filter,
|
||||
BatteryController *battery, HeightSensor heightSensor = Hybrid);
|
||||
|
||||
~Sensors();
|
||||
|
||||
void measureBaseAltitudeSync(void);
|
||||
|
||||
void measureBaseAltitudeAsync(void);
|
||||
|
||||
void onMeasuaringAltitudeFinished(OnMeasuringFinishedCb callback);
|
||||
|
||||
float rawFlightHeight(void) const;
|
||||
|
||||
float flightHeight(void) const;
|
||||
|
||||
void startMpuCalibration();
|
||||
|
||||
void onMpuCalibrationFinished(OnCalibrationFinishedCb callback);
|
||||
|
||||
MpuData mpuData(void) const;
|
||||
|
||||
int batteryCharge(void) const; // [%]
|
||||
|
||||
bool tick(void);
|
||||
|
||||
private:
|
||||
Barometer *_barometer = nullptr;
|
||||
MPU *_mpu = nullptr;
|
||||
BatteryController *_battery = nullptr;
|
||||
Kalman2DFilter *_2d_filter = nullptr;
|
||||
RangingSensor *_ranging_sensor = nullptr;
|
||||
HeightSensor _heightSensor;
|
||||
OnMeasuringFinishedCb _onMeasuaringAltitudeFinished = nullptr;
|
||||
|
||||
/* cached filtered values */
|
||||
float _flightHeightFromBarometer = 0.f;
|
||||
float _zVelocityAltitude = 0.f;
|
||||
MpuData _mpuData = {0.f};
|
||||
|
||||
|
||||
static constexpr const char *_tag = "Sensors";
|
||||
};
|
||||
10
src/board_pins.h
Executable file
10
src/board_pins.h
Executable file
@@ -0,0 +1,10 @@
|
||||
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||
|
||||
#pragma once
|
||||
#define I2C_SDA_PIN 21
|
||||
#define I2C_SCL_PIN 18
|
||||
#define MPU6050_INT_PIN 19
|
||||
#define BATTERY_ADC_CHANNEL ADC2_CHANNEL_0
|
||||
#define BATTERY_DATA_PIN 4
|
||||
#define BATTERY_DATA_SWITCH_PIN 17
|
||||
40
src/main.cpp
Executable file
40
src/main.cpp
Executable file
@@ -0,0 +1,40 @@
|
||||
// This is a personal academic project. Dear PVS-Studio, please check it.
|
||||
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
|
||||
|
||||
#include "App.hpp"
|
||||
#include "BoardI2C.hpp"
|
||||
#include "Sensors/RangingSensor.hpp"
|
||||
#include "LPS.h"
|
||||
|
||||
BoardI2C i2c;
|
||||
|
||||
static Application *app = nullptr;
|
||||
|
||||
void setup() {
|
||||
Serial.begin(115200);
|
||||
try {
|
||||
app = new Application(new FlightDispatcher(
|
||||
new BluetoothDispatcher(new BluetoothSerial(), "Redmi Note 8 Pro"),
|
||||
new FlightController(
|
||||
new Sensors(new Barometer(new GyverBME280(i2c)),
|
||||
new RangingSensor(),
|
||||
new MPU(new MPU6050(MPU6050_DEFAULT_ADDRESS, &i2c)),
|
||||
new Kalman2DFilter(10.f, 1.f, 1.8f),
|
||||
new BatteryController(BATTERY_DATA_PIN, BATTERY_DATA_SWITCH_PIN),
|
||||
HeightSensor::BarometerOnly),
|
||||
new SavedPidRegulator(3.5f, 0.0015f, 0.01f, "HeightControl"), // height
|
||||
new SavedPidRegulator(2.f, 12.f, 0.f, "YawControl"), // yaw
|
||||
new BrushedMotor(23, 16, 30000, 0, 10),
|
||||
new BrushedMotor(26, 27, 30000, 1, 10),
|
||||
new PIDController(210.f, 15.f, 20.f,
|
||||
new BrushedMotor(25, 33, 30000, 3, 10),
|
||||
"PitchControl"), // pitch
|
||||
true)));
|
||||
} catch (std::bad_alloc &e) {
|
||||
ESP_LOGI("Main", "Failed to allocate memory: %s", e.what());
|
||||
}
|
||||
}
|
||||
|
||||
void loop() {
|
||||
app->tick();
|
||||
}
|
||||
11
test/README
Executable file
11
test/README
Executable file
@@ -0,0 +1,11 @@
|
||||
|
||||
This directory is intended for PlatformIO Test Runner and project tests.
|
||||
|
||||
Unit Testing is a software testing method by which individual units of
|
||||
source code, sets of one or more MCU program modules together with associated
|
||||
control data, usage procedures, and operating procedures, are tested to
|
||||
determine whether they are fit for use. Unit testing finds problems early
|
||||
in the development cycle.
|
||||
|
||||
More information about PlatformIO Unit Testing:
|
||||
- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html
|
||||
Reference in New Issue
Block a user