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Merge pull request #2862 from betaflight/osd-slave-build 

CF/BF - OSD Slave build system
This commit is contained in:
Martin Budden 2017-04-12 07:29:36 +01:00 committed by GitHub
parent 6f5727719f 3d1e755d66
commit 094567da68
41 changed files with 964 additions and 432 deletions
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80
Makefile
View File

@ -90,6 +90,7 @@ FEATURES =
OFFICIAL_TARGETS = ALIENFLIGHTF3 ALIENFLIGHTF4 ANYFCF7 BETAFLIGHTF3 BLUEJAYF4 CC3D FURYF4 NAZE REVO SIRINFPV SPARKY SPRACINGF3 SPRACINGF3EVO SPRACINGF3NEO SPRACINGF4EVO STM32F3DISCOVERY
ALT_TARGETS = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
OPBL_TARGETS = $(filter %_OPBL, $(ALT_TARGETS))
OSD_SLAVE_TARGETS = SPRACINGF3OSD
VALID_TARGETS = $(dir $(wildcard $(ROOT)/src/main/target/*/target.mk))
VALID_TARGETS := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS)))
@ -188,6 +189,15 @@ ifeq ($(filter $(TARGET),$(OPBL_TARGETS)), $(TARGET))
OPBL = yes
endif
ifeq ($(filter $(TARGET),$(OSD_SLAVE_TARGETS)), $(TARGET))
# build an OSD SLAVE
OSD_SLAVE = yes
else
# build an FC
FC = yes
endif
# silently ignore if the file is not present. Allows for target specific.
-include $(ROOT)/src/main/target/$(BASE_TARGET)/target.mk
@ -664,36 +674,53 @@ COMMON_SRC = \
drivers/bus_spi_soft.c \
drivers/display.c \
drivers/exti.c \
drivers/gyro_sync.c \
drivers/io.c \
drivers/light_led.c \
drivers/resource.c \
drivers/rcc.c \
drivers/serial.c \
drivers/serial_uart.c \
drivers/sound_beeper.c \
drivers/stack_check.c \
drivers/system.c \
drivers/timer.c \
drivers/transponder_ir.c \
fc/config.c \
fc/fc_dispatch.c \
fc/fc_hardfaults.c \
fc/fc_msp.c \
fc/fc_tasks.c \
fc/runtime_config.c \
io/beeper.c \
io/serial.c \
io/statusindicator.c \
io/transponder_ir.c \
msp/msp_serial.c \
scheduler/scheduler.c \
sensors/battery.c \
sensors/current.c \
sensors/voltage.c \
OSD_SLAVE_SRC = \
io/displayport_max7456.c \
osd_slave/osd_slave_init.c \
io/osd_slave.c
FC_SRC = \
fc/fc_init.c \
fc/controlrate_profile.c \
drivers/gyro_sync.c \
drivers/rx_nrf24l01.c \
drivers/rx_spi.c \
drivers/rx_xn297.c \
drivers/pwm_esc_detect.c \
drivers/pwm_output.c \
drivers/rcc.c \
drivers/rx_pwm.c \
drivers/serial.c \
drivers/serial_uart.c \
drivers/serial_softserial.c \
drivers/sound_beeper.c \
drivers/stack_check.c \
drivers/system.c \
drivers/timer.c \
fc/config.c \
fc/controlrate_profile.c \
fc/fc_init.c \
fc/fc_dispatch.c \
fc/fc_hardfaults.c \
fc/fc_core.c \
fc/fc_rc.c \
fc/fc_msp.c \
fc/fc_tasks.c \
fc/rc_adjustments.c \
fc/rc_controls.c \
fc/runtime_config.c \
fc/cli.c \
flight/altitude.c \
flight/failsafe.c \
@ -701,13 +728,9 @@ COMMON_SRC = \
flight/mixer.c \
flight/pid.c \
flight/servos.c \
io/beeper.c \
io/serial.c \
io/serial_4way.c \
io/serial_4way_avrootloader.c \
io/serial_4way_stk500v2.c \
io/statusindicator.c \
msp/msp_serial.c \
rx/ibus.c \
rx/jetiexbus.c \
rx/msp.c \
@ -725,11 +748,7 @@ COMMON_SRC = \
rx/sumd.c \
rx/sumh.c \
rx/xbus.c \
scheduler/scheduler.c \
sensors/acceleration.c \
sensors/battery.c \
sensors/current.c \
sensors/voltage.c \
sensors/boardalignment.c \
sensors/compass.c \
sensors/gyro.c \
@ -761,8 +780,6 @@ COMMON_SRC = \
io/gps.c \
io/ledstrip.c \
io/osd.c \
io/osd_slave.c \
io/transponder_ir.c \
sensors/sonar.c \
sensors/barometer.c \
telemetry/telemetry.c \
@ -779,10 +796,19 @@ COMMON_SRC = \
io/vtx_string.c \
io/vtx_smartaudio.c \
io/vtx_tramp.c \
io/vtx.c \
io/vtx.c
COMMON_DEVICE_SRC = \
$(CMSIS_SRC) \
$(DEVICE_STDPERIPH_SRC)
ifeq ($(OSD_SLAVE),yes)
TARGET_FLAGS := -DUSE_OSD_SLAVE $(TARGET_FLAGS)
COMMON_SRC := $(COMMON_SRC) $(OSD_SLAVE_SRC) $(COMMON_DEVICE_SRC)
else
COMMON_SRC := $(COMMON_SRC) $(FC_SRC) $(COMMON_DEVICE_SRC)
endif
SPEED_OPTIMISED_SRC := ""
SIZE_OPTIMISED_SRC := ""

1
src/main/blackbox/blackbox.c
View File

@ -35,7 +35,6 @@
#include "common/maths.h"
#include "common/utils.h"
#include "config/config_profile.h"
#include "config/feature.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"

1
src/main/blackbox/blackbox_io.c
View File

@ -18,7 +18,6 @@
#include "common/maths.h"
#include "common/printf.h"
#include "config/config_profile.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"

1
src/main/cms/cms.c
View File

@ -45,7 +45,6 @@
#include "drivers/system.h"
// For rcData, stopAllMotors, stopPwmAllMotors
#include "config/config_profile.h"
#include "config/feature.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"

1
src/main/cms/cms_menu_blackbox.c
View File

@ -40,7 +40,6 @@
#include "common/utils.h"
#include "config/config_profile.h"
#include "config/feature.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"

1
src/main/cms/cms_menu_imu.c
View File

@ -37,7 +37,6 @@
#include "common/utils.h"
#include "config/config_profile.h"
#include "config/feature.h"
#include "config/parameter_group.h"

1
src/main/cms/cms_menu_ledstrip.c
View File

@ -30,7 +30,6 @@
#include "cms/cms_types.h"
#include "cms/cms_menu_ledstrip.h"
#include "config/config_profile.h"
#include "config/feature.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"

1
src/main/cms/cms_menu_misc.c
View File

@ -34,7 +34,6 @@
#include "common/utils.h"
#include "config/config_profile.h"
#include "config/feature.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"

1
src/main/cms/cms_menu_osd.c
View File

@ -32,7 +32,6 @@
#include "common/utils.h"
#include "config/config_profile.h"
#include "config/feature.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"

1
src/main/cms/cms_menu_vtx.c
View File

@ -33,7 +33,6 @@
#include "common/utils.h"
#include "config/config_profile.h"
#include "config/feature.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"

2
src/main/drivers/timer.h
View File

@ -96,7 +96,7 @@ typedef struct timerHardware_s {
#if defined(STM32F3) || defined(STM32F4) || defined(STM32F7)
uint8_t alternateFunction;
#endif
#if defined(USE_DSHOT) || defined(LED_STRIP)
#if defined(USE_DSHOT) || defined(LED_STRIP) || defined(TRANSPONDER)
#if defined(STM32F4) || defined(STM32F7)
DMA_Stream_TypeDef *dmaRef;
uint32_t dmaChannel;

2
src/main/drivers/timer_def.h
View File

@ -20,7 +20,7 @@
#include <platform.h>
#include "common/utils.h"
#if defined(USE_DSHOT) || defined(LED_STRIP)
#if defined(USE_DSHOT) || defined(LED_STRIP) || defined(TRANSPONDER)
# define DEF_TIM_DMA_COND(...) __VA_ARGS__
#else
# define DEF_TIM_DMA_COND(...)

7
src/main/fc/cli.c
View File

@ -49,7 +49,6 @@ extern uint8_t __config_end;
#include "common/utils.h"
#include "config/config_eeprom.h"
#include "config/config_profile.h"
#include "config/feature.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
@ -629,8 +628,10 @@ static const clivalue_t valueTable[] = {
{ "ibata_scale", VAR_INT16 | MASTER_VALUE, .config.minmax = { -16000, 16000 }, PG_CURRENT_SENSOR_ADC_CONFIG, offsetof(currentSensorADCConfig_t, scale) },
{ "ibata_offset", VAR_INT16 | MASTER_VALUE, .config.minmax = { -16000, 16000 }, PG_CURRENT_SENSOR_ADC_CONFIG, offsetof(currentSensorADCConfig_t, offset) },
// PG_CURRENT_SENSOR_ADC_CONFIG
#ifdef USE_VIRTUAL_CURRENT_METER
{ "ibatv_scale", VAR_INT16 | MASTER_VALUE, .config.minmax = { -16000, 16000 }, PG_CURRENT_SENSOR_VIRTUAL_CONFIG, offsetof(currentSensorVirtualConfig_t, scale) },
{ "ibatv_offset", VAR_INT16 | MASTER_VALUE, .config.minmax = { -16000, 16000 }, PG_CURRENT_SENSOR_VIRTUAL_CONFIG, offsetof(currentSensorVirtualConfig_t, offset) },
#endif
// PG_BEEPER_DEV_CONFIG
#ifdef BEEPER
@ -909,7 +910,9 @@ static servoParam_t servoParamsCopy[MAX_SUPPORTED_SERVOS];
static batteryConfig_t batteryConfigCopy;
static voltageSensorADCConfig_t voltageSensorADCConfigCopy[MAX_VOLTAGE_SENSOR_ADC];
static currentSensorADCConfig_t currentSensorADCConfigCopy;
#ifdef USE_VIRTUAL_CURRENT_METER
static currentSensorVirtualConfig_t currentSensorVirtualConfigCopy;
#endif
static motorMixer_t customMotorMixerCopy[MAX_SUPPORTED_MOTORS];
static mixerConfig_t mixerConfigCopy;
static flight3DConfig_t flight3DConfigCopy;
@ -1197,10 +1200,12 @@ static const cliCurrentAndDefaultConfig_t *getCurrentAndDefaultConfigs(pgn_t pgn
ret.currentConfig = &currentSensorADCConfigCopy;
ret.defaultConfig = currentSensorADCConfig();
break;
#ifdef USE_VIRTUAL_CURRENT_METER
case PG_CURRENT_SENSOR_VIRTUAL_CONFIG:
ret.currentConfig = &currentSensorVirtualConfigCopy;
ret.defaultConfig = currentSensorVirtualConfig();
break;
#endif
case PG_SERIAL_CONFIG:
ret.currentConfig = &serialConfigCopy;
ret.defaultConfig = serialConfig();

45
src/main/fc/config.c
View File

@ -35,7 +35,6 @@
#include "common/maths.h"
#include "config/config_eeprom.h"
#include "config/config_profile.h"
#include "config/feature.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
@ -98,7 +97,9 @@
#include "telemetry/telemetry.h"
#ifndef USE_OSD_SLAVE
pidProfile_t *currentPidProfile;
#endif
#ifndef DEFAULT_FEATURES
#define DEFAULT_FEATURES 0
@ -118,13 +119,22 @@ PG_RESET_TEMPLATE(featureConfig_t, featureConfig,
PG_REGISTER_WITH_RESET_TEMPLATE(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0);
#ifndef USE_OSD_SLAVE
PG_RESET_TEMPLATE(systemConfig_t, systemConfig,
.pidProfileIndex = 0,
.activeRateProfile = 0,
.debug_mode = DEBUG_MODE,
.task_statistics = true,
.name = { 0 }
.name = { 0 } // FIXME misplaced, see PG_PILOT_CONFIG in CF v1.x
);
#endif
#ifdef USE_OSD_SLAVE
PG_RESET_TEMPLATE(systemConfig_t, systemConfig,
.debug_mode = DEBUG_MODE,
.task_statistics = true
);
#endif
#ifdef BEEPER
PG_REGISTER(beeperConfig_t, beeperConfig, PG_BEEPER_CONFIG, 0);
@ -447,6 +457,7 @@ void pgResetFn_statusLedConfig(statusLedConfig_t *statusLedConfig)
;
}
#ifndef USE_OSD_SLAVE
uint8_t getCurrentPidProfileIndex(void)
{
return systemConfig()->pidProfileIndex;
@ -470,6 +481,7 @@ uint16_t getCurrentMinthrottle(void)
{
return motorConfig()->minthrottle;
}
#endif
void resetConfigs(void)
{
@ -481,8 +493,10 @@ void resetConfigs(void)
pgActivateProfile(0);
#ifndef USE_OSD_SLAVE
setPidProfile(0);
setControlRateProfile(0);
#endif
#ifdef LED_STRIP
reevaluateLedConfig();
@ -491,6 +505,7 @@ void resetConfigs(void)
void activateConfig(void)
{
#ifndef USE_OSD_SLAVE
generateThrottleCurve();
resetAdjustmentStates();
@ -509,10 +524,12 @@ void activateConfig(void)
imuConfigure(throttleCorrectionConfig()->throttle_correction_angle);
configureAltitudeHold(currentPidProfile);
#endif
}
void validateAndFixConfig(void)
{
#ifndef USE_OSD_SLAVE
if((motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) && (motorConfig()->mincommand < 1000)){
motorConfigMutable()->mincommand = 1000;
}
@ -571,22 +588,24 @@ void validateAndFixConfig(void)
}
#endif
if (!isSerialConfigValid(serialConfig())) {
pgResetFn_serialConfig(serialConfigMutable());
}
// Prevent invalid notch cutoff
if (currentPidProfile->dterm_notch_cutoff >= currentPidProfile->dterm_notch_hz) {
currentPidProfile->dterm_notch_hz = 0;
}
validateAndFixGyroConfig();
#endif
if (!isSerialConfigValid(serialConfig())) {
pgResetFn_serialConfig(serialConfigMutable());
}
#if defined(TARGET_VALIDATECONFIG)
targetValidateConfiguration();
#endif
}
#ifndef USE_OSD_SLAVE
void validateAndFixGyroConfig(void)
{
// Prevent invalid notch cutoff
@ -662,16 +681,19 @@ void validateAndFixGyroConfig(void)
motorConfigMutable()->dev.motorPwmRate = maxEscRate;
}
}
#endif
void readEEPROM(void)
{
#ifndef USE_OSD_SLAVE
suspendRxSignal();
#endif
// Sanity check, read flash
if (!loadEEPROM()) {
failureMode(FAILURE_INVALID_EEPROM_CONTENTS);
}
#ifndef USE_OSD_SLAVE
if (systemConfig()->activeRateProfile >= CONTROL_RATE_PROFILE_COUNT) {// sanity check
systemConfigMutable()->activeRateProfile = 0;
}
@ -681,20 +703,27 @@ void readEEPROM(void)
systemConfigMutable()->pidProfileIndex = 0;
}
setPidProfile(systemConfig()->pidProfileIndex);
#endif
validateAndFixConfig();
activateConfig();
#ifndef USE_OSD_SLAVE
resumeRxSignal();
#endif
}
void writeEEPROM(void)
{
#ifndef USE_OSD_SLAVE
suspendRxSignal();
#endif
writeConfigToEEPROM();
#ifndef USE_OSD_SLAVE
resumeRxSignal();
#endif
}
void resetEEPROM(void)
@ -718,6 +747,7 @@ void saveConfigAndNotify(void)
beeperConfirmationBeeps(1);
}
#ifndef USE_OSD_SLAVE
void changePidProfile(uint8_t pidProfileIndex)
{
if (pidProfileIndex >= MAX_PROFILE_COUNT) {
@ -727,6 +757,7 @@ void changePidProfile(uint8_t pidProfileIndex)
currentPidProfile = pidProfilesMutable(pidProfileIndex);
beeperConfirmationBeeps(pidProfileIndex + 1);
}
#endif
void beeperOffSet(uint32_t mask)
{

15
src/main/fc/config.h
View File

@ -30,8 +30,6 @@
#include "drivers/sound_beeper.h"
#include "drivers/vcd.h"
#define MAX_NAME_LENGTH 16
typedef enum {
FEATURE_RX_PPM = 1 << 0,
//FEATURE_VBAT = 1 << 1,
@ -64,13 +62,24 @@ typedef enum {
FEATURE_ANTI_GRAVITY = 1 << 28,
} features_e;
#define MAX_NAME_LENGTH 16
#ifndef USE_OSD_SLAVE
typedef struct systemConfig_s {
uint8_t pidProfileIndex;
uint8_t activeRateProfile;
uint8_t debug_mode;
uint8_t task_statistics;
char name[MAX_NAME_LENGTH + 1];
char name[MAX_NAME_LENGTH + 1]; // FIXME misplaced, see PG_PILOT_CONFIG in CF v1.x
} systemConfig_t;
#endif
#ifdef USE_OSD_SLAVE
typedef struct systemConfig_s {
uint8_t debug_mode;
uint8_t task_statistics;
} systemConfig_t;
#endif
PG_DECLARE(systemConfig_t, systemConfig);
PG_DECLARE(adcConfig_t, adcConfig);

1
src/main/fc/fc_core.c
View File

@ -29,7 +29,6 @@
#include "common/maths.h"
#include "common/utils.h"
#include "config/config_profile.h"
#include "config/feature.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"

3
src/main/fc/fc_hardfaults.c
View File

@ -93,11 +93,14 @@ void HardFault_Handler(void)
{
LED2_ON;
#ifndef USE_OSD_SLAVE
// fall out of the sky
uint8_t requiredStateForMotors = SYSTEM_STATE_CONFIG_LOADED | SYSTEM_STATE_MOTORS_READY;
if ((systemState & requiredStateForMotors) == requiredStateForMotors) {
stopMotors();
}
#endif
#ifdef TRANSPONDER
// prevent IR LEDs from burning out.
uint8_t requiredStateForTransponder = SYSTEM_STATE_CONFIG_LOADED | SYSTEM_STATE_TRANSPONDER_ENABLED;

1
src/main/fc/fc_init.c
View File

@ -29,7 +29,6 @@
#include "common/printf.h"
#include "config/config_eeprom.h"
#include "config/config_profile.h"
#include "config/feature.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"

757
src/main/fc/fc_msp.c
View File

@ -34,7 +34,6 @@
#include "common/streambuf.h"
#include "config/config_eeprom.h"
#include "config/config_profile.h"
#include "config/feature.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
@ -94,9 +93,10 @@
#include "scheduler/scheduler.h"
#include "sensors/battery.h"
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
#include "sensors/battery.h"
#include "sensors/boardalignment.h"
#include "sensors/compass.h"
#include "sensors/gyro.h"
@ -109,11 +109,10 @@
#include "hardware_revision.h"
#endif
extern uint16_t cycleTime; // FIXME dependency on mw.c
static const char * const flightControllerIdentifier = BETAFLIGHT_IDENTIFIER; // 4 UPPER CASE alpha numeric characters that identify the flight controller.
static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
#ifndef USE_OSD_SLAVE
static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ BOXARM, "ARM", 0 },
{ BOXANGLE, "ANGLE", 1 },
@ -180,6 +179,7 @@ typedef enum {
} mspSDCardFlags_e;
#define RATEPROFILE_MASK (1 << 7)
#endif
#ifdef USE_SERIAL_4WAY_BLHELI_INTERFACE
#define ESC_4WAY 0xff
@ -216,8 +216,8 @@ static void mspFc4waySerialCommand(sbuf_t *dst, sbuf_t *src, mspPostProcessFnPtr
if (mspPostProcessFn) {
*mspPostProcessFn = esc4wayProcess;
}
break;
#ifdef USE_ESCSERIAL
case PROTOCOL_SIMONK:
case PROTOCOL_BLHELI:
@ -244,13 +244,16 @@ static void mspRebootFn(serialPort_t *serialPort)
{
UNUSED(serialPort);
#ifndef USE_OSD_SLAVE
stopPwmAllMotors();
#endif
systemReset();
// control should never return here.
while (true) ;
}
#ifndef USE_OSD_SLAVE
const box_t *findBoxByBoxId(uint8_t boxId)
{
for (uint8_t boxIndex = 0; boxIndex < sizeof(boxes) / sizeof(box_t); boxIndex++) {
@ -452,21 +455,20 @@ static void serializeSDCardSummaryReply(sbuf_t *dst)
switch (afatfs_getFilesystemState()) {
case AFATFS_FILESYSTEM_STATE_READY:
state = MSP_SDCARD_STATE_READY;
break;
case AFATFS_FILESYSTEM_STATE_INITIALIZATION:
if (sdcard_isInitialized()) {
state = MSP_SDCARD_STATE_FS_INIT;
} else {
state = MSP_SDCARD_STATE_CARD_INIT;
}
break;
case AFATFS_FILESYSTEM_STATE_FATAL:
case AFATFS_FILESYSTEM_STATE_UNKNOWN:
default:
state = MSP_SDCARD_STATE_FATAL;
break;
}
}
@ -537,12 +539,13 @@ static void serializeDataflashReadReply(sbuf_t *dst, uint32_t address, const uin
}
}
#endif
#endif
/*
* Returns true if the command was processd, false otherwise.
* May set mspPostProcessFunc to a function to be called once the command has been processed
*/
static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFnPtr *mspPostProcessFn)
static bool mspCommonProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFnPtr *mspPostProcessFn)
{
switch (cmdMSP) {
case MSP_API_VERSION:
@ -585,6 +588,247 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteData(dst, shortGitRevision, GIT_SHORT_REVISION_LENGTH);
break;
case MSP_REBOOT:
if (mspPostProcessFn) {
*mspPostProcessFn = mspRebootFn;
}
break;
case MSP_ANALOG:
sbufWriteU8(dst, (uint8_t)constrain(getBatteryVoltage(), 0, 255));
sbufWriteU16(dst, (uint16_t)constrain(getMAhDrawn(), 0, 0xFFFF)); // milliamp hours drawn from battery
sbufWriteU16(dst, 0); // rssi
sbufWriteU16(dst, (int16_t)constrain(getAmperage(), -0x8000, 0x7FFF)); // send current in 0.01 A steps, range is -320A to 320A
break;
case MSP_DEBUG:
// output some useful QA statistics
// debug[x] = ((hse_value / 1000000) * 1000) + (SystemCoreClock / 1000000); // XX0YY [crystal clock : core clock]
for (int i = 0; i < DEBUG16_VALUE_COUNT; i++) {
sbufWriteU16(dst, debug[i]); // 4 variables are here for general monitoring purpose
}
break;
case MSP_UID:
sbufWriteU32(dst, U_ID_0);
sbufWriteU32(dst, U_ID_1);
sbufWriteU32(dst, U_ID_2);
break;
case MSP_FEATURE_CONFIG:
sbufWriteU32(dst, featureMask());
break;
case MSP_BATTERY_STATE: {
// battery characteristics
sbufWriteU8(dst, (uint8_t)constrain(getBatteryCellCount(), 0, 255)); // 0 indicates battery not detected.
sbufWriteU16(dst, batteryConfig()->batteryCapacity); // in mAh
// battery state
sbufWriteU8(dst, (uint8_t)constrain(getBatteryVoltage(), 0, 255)); // in 0.1V steps
sbufWriteU16(dst, (uint16_t)constrain(getMAhDrawn(), 0, 0xFFFF)); // milliamp hours drawn from battery
sbufWriteU16(dst, (int16_t)constrain(getAmperage(), -0x8000, 0x7FFF)); // send current in 0.01 A steps, range is -320A to 320A
// battery alerts
sbufWriteU8(dst, (uint8_t)getBatteryState());
break;
}
case MSP_VOLTAGE_METERS:
// write out id and voltage meter values, once for each meter we support
for (int i = 0; i < supportedVoltageMeterCount; i++) {
voltageMeter_t meter;
uint8_t id = (uint8_t)voltageMeterIds[i];
voltageMeterRead(id, &meter);
sbufWriteU8(dst, id);
sbufWriteU8(dst, (uint8_t)constrain(meter.filtered, 0, 255));
}
break;
case MSP_CURRENT_METERS:
// write out id and current meter values, once for each meter we support
for (int i = 0; i < supportedCurrentMeterCount; i++) {
currentMeter_t meter;
uint8_t id = (uint8_t)currentMeterIds[i];
currentMeterRead(id, &meter);
sbufWriteU8(dst, id);
sbufWriteU16(dst, (uint16_t)constrain(meter.mAhDrawn, 0, 0xFFFF)); // milliamp hours drawn from battery
sbufWriteU16(dst, (uint16_t)constrain(meter.amperage * 10, 0, 0xFFFF)); // send amperage in 0.001 A steps (mA). Negative range is truncated to zero
}
break;
case MSP_VOLTAGE_METER_CONFIG:
// by using a sensor type and a sub-frame length it's possible to configure any type of voltage meter,
// e.g. an i2c/spi/can sensor or any sensor not built directly into the FC such as ESC/RX/SPort/SBus that has
// different configuration requirements.
BUILD_BUG_ON(VOLTAGE_SENSOR_ADC_VBAT != 0); // VOLTAGE_SENSOR_ADC_VBAT should be the first index,
sbufWriteU8(dst, MAX_VOLTAGE_SENSOR_ADC); // voltage meters in payload
for (int i = VOLTAGE_SENSOR_ADC_VBAT; i < MAX_VOLTAGE_SENSOR_ADC; i++) {
const uint8_t adcSensorSubframeLength = 1 + 1 + 1 + 1 + 1; // length of id, type, vbatscale, vbatresdivval, vbatresdivmultipler, in bytes
sbufWriteU8(dst, adcSensorSubframeLength); // ADC sensor sub-frame length
sbufWriteU8(dst, voltageMeterADCtoIDMap[i]); // id of the sensor
sbufWriteU8(dst, VOLTAGE_SENSOR_TYPE_ADC_RESISTOR_DIVIDER); // indicate the type of sensor that the next part of the payload is for
sbufWriteU8(dst, voltageSensorADCConfig(i)->vbatscale);
sbufWriteU8(dst, voltageSensorADCConfig(i)->vbatresdivval);
sbufWriteU8(dst, voltageSensorADCConfig(i)->vbatresdivmultiplier);
}
// if we had any other voltage sensors, this is where we would output any needed configuration
break;
case MSP_CURRENT_METER_CONFIG: {
// the ADC and VIRTUAL sensors have the same configuration requirements, however this API reflects
// that this situation may change and allows us to support configuration of any current sensor with
// specialist configuration requirements.
int currentMeterCount = 1;
#ifdef USE_VIRTUAL_CURRENT_METER
currentMeterCount++;
#endif
sbufWriteU8(dst, currentMeterCount);
const uint8_t adcSensorSubframeLength = 1 + 1 + 2 + 2; // length of id, type, scale, offset, in bytes
sbufWriteU8(dst, adcSensorSubframeLength);
sbufWriteU8(dst, CURRENT_METER_ID_BATTERY_1); // the id of the meter
sbufWriteU8(dst, CURRENT_SENSOR_ADC); // indicate the type of sensor that the next part of the payload is for
sbufWriteU16(dst, currentSensorADCConfig()->scale);
sbufWriteU16(dst, currentSensorADCConfig()->offset);
#ifdef USE_VIRTUAL_CURRENT_METER
const int8_t virtualSensorSubframeLength = 1 + 1 + 2 + 2; // length of id, type, scale, offset, in bytes
sbufWriteU8(dst, virtualSensorSubframeLength);
sbufWriteU8(dst, CURRENT_METER_ID_VIRTUAL_1); // the id of the meter
sbufWriteU8(dst, CURRENT_SENSOR_VIRTUAL); // indicate the type of sensor that the next part of the payload is for
sbufWriteU16(dst, currentSensorVirtualConfig()->scale);
sbufWriteU16(dst, currentSensorVirtualConfig()->offset);
#endif
// if we had any other current sensors, this is where we would output any needed configuration
break;
}
case MSP_BATTERY_CONFIG:
sbufWriteU8(dst, batteryConfig()->vbatmincellvoltage);
sbufWriteU8(dst, batteryConfig()->vbatmaxcellvoltage);
sbufWriteU8(dst, batteryConfig()->vbatwarningcellvoltage);
sbufWriteU16(dst, batteryConfig()->batteryCapacity);
sbufWriteU8(dst, batteryConfig()->voltageMeterSource);
sbufWriteU8(dst, batteryConfig()->currentMeterSource);
break;
case MSP_TRANSPONDER_CONFIG:
#ifdef TRANSPONDER
sbufWriteU8(dst, 1); //Transponder supported
for (unsigned int i = 0; i < sizeof(transponderConfig()->data); i++) {
sbufWriteU8(dst, transponderConfig()->data[i]);
}
#else
sbufWriteU8(dst, 0); // Transponder not supported
#endif
break;
case MSP_OSD_CONFIG: {
#define OSD_FLAGS_OSD_FEATURE (1 << 0)
#define OSD_FLAGS_OSD_SLAVE (1 << 1)
#define OSD_FLAGS_RESERVED_1 (1 << 2)
#define OSD_FLAGS_RESERVED_2 (1 << 3)
#define OSD_FLAGS_OSD_HARDWARE_MAX_7456 (1 << 4)
uint8_t osdFlags = 0;
#if defined(OSD)
osdFlags |= OSD_FLAGS_OSD_FEATURE;
#endif
#if defined(USE_OSD_SLAVE)
osdFlags |= OSD_FLAGS_OSD_SLAVE;
#endif
#ifdef USE_MAX7456
osdFlags |= OSD_FLAGS_OSD_HARDWARE_MAX_7456;
#endif
sbufWriteU8(dst, osdFlags);
#ifdef USE_MAX7456
// send video system (AUTO/PAL/NTSC)
sbufWriteU8(dst, vcdProfile()->video_system);
#else
sbufWriteU8(dst, 0);
#endif
#ifdef OSD
// OSD specific, not applicable to OSD slaves.
sbufWriteU8(dst, osdConfig()->units);
sbufWriteU8(dst, osdConfig()->rssi_alarm);
sbufWriteU16(dst, osdConfig()->cap_alarm);
sbufWriteU16(dst, osdConfig()->time_alarm);
sbufWriteU16(dst, osdConfig()->alt_alarm);
for (int i = 0; i < OSD_ITEM_COUNT; i++) {
sbufWriteU16(dst, osdConfig()->item_pos[i]);
}
#endif
break;
}
default:
return false;
}
return true;
}
#ifdef USE_OSD_SLAVE
static bool mspOsdSlaveProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFnPtr *mspPostProcessFn)
{
UNUSED(mspPostProcessFn);
switch (cmdMSP) {
case MSP_STATUS_EX:
sbufWriteU16(dst, 0); // task delta
#ifdef USE_I2C
sbufWriteU16(dst, i2cGetErrorCounter());
#else
sbufWriteU16(dst, 0);
#endif
sbufWriteU16(dst, 0); // sensors
sbufWriteU32(dst, 0); // flight modes
sbufWriteU8(dst, 0); // profile
sbufWriteU16(dst, constrain(averageSystemLoadPercent, 0, 100));
sbufWriteU8(dst, 1); // max profiles
sbufWriteU8(dst, 0); // control rate profile
break;
case MSP_STATUS:
sbufWriteU16(dst, 0); // task delta
#ifdef USE_I2C
sbufWriteU16(dst, i2cGetErrorCounter());
#else
sbufWriteU16(dst, 0);
#endif
sbufWriteU16(dst, 0); // sensors
sbufWriteU32(dst, 0); // flight modes
sbufWriteU8(dst, 0); // profile
sbufWriteU16(dst, constrain(averageSystemLoadPercent, 0, 100));
sbufWriteU16(dst, 0); // gyro cycle time
break;
default:
return false;
}
return true;
}
#endif
#ifndef USE_OSD_SLAVE
static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFnPtr *mspPostProcessFn)
{
UNUSED(mspPostProcessFn);
switch (cmdMSP) {
case MSP_STATUS_EX:
sbufWriteU16(dst, getTaskDeltaTime(TASK_GYROPID));
#ifdef USE_I2C
@ -600,15 +844,6 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU8(dst, getCurrentControlRateProfileIndex());
break;
case MSP_NAME:
{
const int nameLen = strlen(systemConfig()->name);
for (int i = 0; i < nameLen; i++) {
sbufWriteU8(dst, systemConfig()->name[i]);
}
}
break;
case MSP_STATUS:
sbufWriteU16(dst, getTaskDeltaTime(TASK_GYROPID));
#ifdef USE_I2C
@ -639,6 +874,15 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
}
break;
case MSP_NAME:
{
const int nameLen = strlen(systemConfig()->name);
for (int i = 0; i < nameLen; i++) {
sbufWriteU8(dst, systemConfig()->name[i]);
}
}
break;
#ifdef USE_SERVOS
case MSP_SERVO:
sbufWriteData(dst, &servo, MAX_SUPPORTED_SERVOS * 2);
@ -649,12 +893,11 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU16(dst, servoParams(i)->max);
sbufWriteU16(dst, servoParams(i)->middle);
sbufWriteU8(dst, servoParams(i)->rate);
sbufWriteU8(dst, servoParams(i)->angleAtMin);
sbufWriteU8(dst, servoParams(i)->angleAtMax);
sbufWriteU8(dst, servoParams(i)->forwardFromChannel);
sbufWriteU32(dst, servoParams(i)->reversedSources);
}
break;
case MSP_SERVO_MIX_RULES:
for (int i = 0; i < MAX_SERVO_RULES; i++) {
sbufWriteU8(dst, customServoMixers(i)->targetChannel);
@ -708,11 +951,10 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
#endif
break;
case MSP_ANALOG:
sbufWriteU8(dst, (uint8_t)constrain(getBatteryVoltage(), 0, 255));
sbufWriteU16(dst, (uint16_t)constrain(getMAhDrawn(), 0, 0xFFFF)); // milliamp hours drawn from battery
sbufWriteU16(dst, rssi);
sbufWriteU16(dst, (int16_t)constrain(getAmperage(), -0x8000, 0x7FFF)); // send current in 0.01 A steps, range is -320A to 320A
case MSP_BOARD_ALIGNMENT_CONFIG:
sbufWriteU16(dst, boardAlignment()->rollDegrees);
sbufWriteU16(dst, boardAlignment()->pitchDegrees);
sbufWriteU16(dst, boardAlignment()->yawDegrees);
break;
case MSP_ARMING_CONFIG:
@ -836,130 +1078,11 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
break;
#endif
case MSP_DEBUG:
// output some useful QA statistics
// debug[x] = ((hse_value / 1000000) * 1000) + (SystemCoreClock / 1000000); // XX0YY [crystal clock : core clock]
for (int i = 0; i < DEBUG16_VALUE_COUNT; i++) {
sbufWriteU16(dst, debug[i]); // 4 variables are here for general monitoring purpose
}
break;
case MSP_ACC_TRIM:
sbufWriteU16(dst, accelerometerConfig()->accelerometerTrims.values.pitch);
sbufWriteU16(dst, accelerometerConfig()->accelerometerTrims.values.roll);
break;
case MSP_UID:
sbufWriteU32(dst, U_ID_0);
sbufWriteU32(dst, U_ID_1);
sbufWriteU32(dst, U_ID_2);
break;
case MSP_FEATURE_CONFIG:
sbufWriteU32(dst, featureMask());
break;
case MSP_BOARD_ALIGNMENT_CONFIG:
sbufWriteU16(dst, boardAlignment()->rollDegrees);
sbufWriteU16(dst, boardAlignment()->pitchDegrees);
sbufWriteU16(dst, boardAlignment()->yawDegrees);
break;
case MSP_BATTERY_STATE: {
// battery characteristics
sbufWriteU8(dst, (uint8_t)constrain(getBatteryCellCount(), 0, 255)); // 0 indicates battery not detected.
sbufWriteU16(dst, batteryConfig()->batteryCapacity); // in mAh
// battery state
sbufWriteU8(dst, (uint8_t)constrain(getBatteryVoltage(), 0, 255)); // in 0.1V steps
sbufWriteU16(dst, (uint16_t)constrain(getMAhDrawn(), 0, 0xFFFF)); // milliamp hours drawn from battery
sbufWriteU16(dst, (int16_t)constrain(getAmperage(), -0x8000, 0x7FFF)); // send current in 0.01 A steps, range is -320A to 320A
// battery alerts
sbufWriteU8(dst, (uint8_t)getBatteryState());
break;
}
case MSP_VOLTAGE_METERS:
// write out id and voltage meter values, once for each meter we support
for (int i = 0; i < supportedVoltageMeterCount; i++) {
voltageMeter_t meter;
uint8_t id = (uint8_t)voltageMeterIds[i];
voltageMeterRead(id, &meter);
sbufWriteU8(dst, id);
sbufWriteU8(dst, (uint8_t)constrain(meter.filtered, 0, 255));
}
break;
case MSP_CURRENT_METERS:
// write out id and current meter values, once for each meter we support
for (int i = 0; i < supportedCurrentMeterCount; i++) {
currentMeter_t meter;
uint8_t id = (uint8_t)currentMeterIds[i];
currentMeterRead(id, &meter);
sbufWriteU8(dst, id);
sbufWriteU16(dst, (uint16_t)constrain(meter.mAhDrawn, 0, 0xFFFF)); // milliamp hours drawn from battery
sbufWriteU16(dst, (uint16_t)constrain(meter.amperage * 10, 0, 0xFFFF)); // send amperage in 0.001 A steps (mA). Negative range is truncated to zero
}
break;
case MSP_VOLTAGE_METER_CONFIG:
// by using a sensor type and a sub-frame length it's possible to configure any type of voltage meter,
// e.g. an i2c/spi/can sensor or any sensor not built directly into the FC such as ESC/RX/SPort/SBus that has
// different configuration requirements.
BUILD_BUG_ON(VOLTAGE_SENSOR_ADC_VBAT != 0); // VOLTAGE_SENSOR_ADC_VBAT should be the first index,
sbufWriteU8(dst, MAX_VOLTAGE_SENSOR_ADC); // voltage meters in payload
for (int i = VOLTAGE_SENSOR_ADC_VBAT; i < MAX_VOLTAGE_SENSOR_ADC; i++) {
const uint8_t adcSensorSubframeLength = 1 + 1 + 1 + 1 + 1; // length of id, type, vbatscale, vbatresdivval, vbatresdivmultipler, in bytes
sbufWriteU8(dst, adcSensorSubframeLength); // ADC sensor sub-frame length
sbufWriteU8(dst, voltageMeterADCtoIDMap[i]); // id of the sensor
sbufWriteU8(dst, VOLTAGE_SENSOR_TYPE_ADC_RESISTOR_DIVIDER); // indicate the type of sensor that the next part of the payload is for
sbufWriteU8(dst, voltageSensorADCConfig(i)->vbatscale);
sbufWriteU8(dst, voltageSensorADCConfig(i)->vbatresdivval);
sbufWriteU8(dst, voltageSensorADCConfig(i)->vbatresdivmultiplier);
}
// if we had any other voltage sensors, this is where we would output any needed configuration
break;
case MSP_CURRENT_METER_CONFIG: {
// the ADC and VIRTUAL sensors have the same configuration requirements, however this API reflects
// that this situation may change and allows us to support configuration of any current sensor with
// specialist configuration requirements.
sbufWriteU8(dst, 2); // current meters in payload (adc + virtual)
const uint8_t adcSensorSubframeLength = 1 + 1 + 2 + 2; // length of id, type, scale, offset, in bytes
sbufWriteU8(dst, adcSensorSubframeLength);
sbufWriteU8(dst, CURRENT_METER_ID_BATTERY_1); // the id of the sensor
sbufWriteU8(dst, CURRENT_SENSOR_ADC); // indicate the type of sensor that the next part of the payload is for
sbufWriteU16(dst, currentSensorADCConfig()->scale);
sbufWriteU16(dst, currentSensorADCConfig()->offset);
const int8_t virtualSensorSubframeLength = 1 + 1 + 2 + 2; // length of id, type, scale, offset, in bytes
sbufWriteU8(dst, virtualSensorSubframeLength);
sbufWriteU8(dst, CURRENT_METER_ID_VIRTUAL_1); // the id of the sensor
sbufWriteU8(dst, CURRENT_SENSOR_VIRTUAL); // indicate the type of sensor that the next part of the payload is for
sbufWriteU16(dst, currentSensorVirtualConfig()->scale);
sbufWriteU16(dst, currentSensorVirtualConfig()->offset);
// if we had any other current sensors, this is where we would output any needed configuration
break;
}
case MSP_BATTERY_CONFIG:
sbufWriteU8(dst, batteryConfig()->vbatmincellvoltage);
sbufWriteU8(dst, batteryConfig()->vbatmaxcellvoltage);
sbufWriteU8(dst, batteryConfig()->vbatwarningcellvoltage);
sbufWriteU16(dst, batteryConfig()->batteryCapacity);
sbufWriteU8(dst, batteryConfig()->voltageMeterSource);
sbufWriteU8(dst, batteryConfig()->currentMeterSource);
break;
case MSP_MIXER_CONFIG:
sbufWriteU8(dst, mixerConfig()->mixerMode);
break;
@ -1094,58 +1217,6 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
serializeSDCardSummaryReply(dst);
break;
case MSP_TRANSPONDER_CONFIG:
#ifdef TRANSPONDER
sbufWriteU8(dst, 1); //Transponder supported
for (unsigned int i = 0; i < sizeof(transponderConfig()->data); i++) {
sbufWriteU8(dst, transponderConfig()->data[i]);
}
#else
sbufWriteU8(dst, 0); // Transponder not supported
#endif
break;
case MSP_OSD_CONFIG: {
#define OSD_FLAGS_OSD_FEATURE (1 << 0)
#define OSD_FLAGS_OSD_SLAVE (1 << 1)
#define OSD_FLAGS_RESERVED_1 (1 << 2)
#define OSD_FLAGS_RESERVED_2 (1 << 3)
#define OSD_FLAGS_OSD_HARDWARE_MAX_7456 (1 << 4)
uint8_t osdFlags = 0;
#if defined(OSD)
osdFlags |= OSD_FLAGS_OSD_FEATURE;
#endif
#if defined(USE_OSD_SLAVE)
osdFlags |= OSD_FLAGS_OSD_SLAVE;
#endif
#ifdef USE_MAX7456
osdFlags |= OSD_FLAGS_OSD_HARDWARE_MAX_7456;
#endif
sbufWriteU8(dst, osdFlags);
#ifdef USE_MAX7456
// send video system (AUTO/PAL/NTSC)
sbufWriteU8(dst, vcdProfile()->video_system);
#else
sbufWriteU8(dst, 0);
#endif
#ifdef OSD
// OSD specific, not applicable to OSD slaves.
sbufWriteU8(dst, osdConfig()->units);
sbufWriteU8(dst, osdConfig()->rssi_alarm);
sbufWriteU16(dst, osdConfig()->cap_alarm);
sbufWriteU16(dst, osdConfig()->time_alarm);
sbufWriteU16(dst, osdConfig()->alt_alarm);
for (int i = 0; i < OSD_ITEM_COUNT; i++) {
sbufWriteU16(dst, osdConfig()->item_pos[i]);
}
#endif
break;
}
case MSP_MOTOR_3D_CONFIG:
sbufWriteU16(dst, flight3DConfig()->deadband3d_low);
sbufWriteU16(dst, flight3DConfig()->deadband3d_high);
@ -1218,12 +1289,6 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU8(dst, compassConfig()->mag_hardware);
break;
case MSP_REBOOT:
if (mspPostProcessFn) {
*mspPostProcessFn = mspRebootFn;
}
break;
#if defined(VTX_COMMON)
case MSP_VTX_CONFIG:
{
@ -1258,6 +1323,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
}
return true;
}
#endif
#ifdef GPS
static void mspFcWpCommand(sbuf_t *dst, sbuf_t *src)
@ -1301,6 +1367,16 @@ static void mspFcDataFlashReadCommand(sbuf_t *dst, sbuf_t *src)
}
#endif
#ifdef USE_OSD_SLAVE
static mspResult_e mspOsdSlaveProcessInCommand(uint8_t cmdMSP, sbuf_t *src) {
UNUSED(cmdMSP);
UNUSED(src);
// Nothing OSD SLAVE specific yet.
return MSP_RESULT_ERROR;
}
#endif
#ifndef USE_OSD_SLAVE
static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
{
uint32_t i;
@ -1637,75 +1713,6 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break;
#endif
#ifdef TRANSPONDER
case MSP_SET_TRANSPONDER_CONFIG:
if (dataSize != sizeof(transponderConfig()->data)) {
return MSP_RESULT_ERROR;
}
for (unsigned int i = 0; i < sizeof(transponderConfig()->data); i++) {
transponderConfigMutable()->data[i] = sbufReadU8(src);
}
transponderUpdateData();
break;
#endif
#if defined(OSD) || defined (USE_OSD_SLAVE)
case MSP_SET_OSD_CONFIG:
{
const uint8_t addr = sbufReadU8(src);
// set all the other settings
if ((int8_t)addr == -1) {
#ifdef USE_MAX7456
vcdProfileMutable()->video_system = sbufReadU8(src);
#else
sbufReadU8(src); // Skip video system
#endif
#if defined(OSD)
osdConfigMutable()->units = sbufReadU8(src);
osdConfigMutable()->rssi_alarm = sbufReadU8(src);
osdConfigMutable()->cap_alarm = sbufReadU16(src);
osdConfigMutable()->time_alarm = sbufReadU16(src);
osdConfigMutable()->alt_alarm = sbufReadU16(src);
#endif
} else {
#if defined(OSD)
// set a position setting
const uint16_t pos = sbufReadU16(src);
if (addr < OSD_ITEM_COUNT) {
osdConfigMutable()->item_pos[addr] = pos;
}
#else
return MSP_RESULT_ERROR;
#endif
}
}
break;
case MSP_OSD_CHAR_WRITE:
#ifdef USE_MAX7456
{
uint8_t font_data[64];
const uint8_t addr = sbufReadU8(src);
for (int i = 0; i < 54; i++) {
font_data[i] = sbufReadU8(src);
}
// !!TODO - replace this with a device independent implementation
max7456WriteNvm(addr, font_data);
}
#else
return MSP_RESULT_ERROR;
/*
// just discard the data
sbufReadU8(src);
for (int i = 0; i < 54; i++) {
sbufReadU8(src);
}
*/
#endif
break;
#endif // OSD || USE_OSD_SLAVE
#if defined(USE_RTC6705) || defined(VTX_COMMON)
case MSP_SET_VTX_CONFIG:
{
@ -1768,6 +1775,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
GPS_speed = sbufReadU16(src);
GPS_update |= 2; // New data signalisation to GPS functions // FIXME Magic Numbers
break;
case MSP_SET_WP:
wp_no = sbufReadU8(src); //get the wp number
lat = sbufReadU32(src);
@ -1793,6 +1801,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
}
break;
#endif
case MSP_SET_FEATURE_CONFIG:
featureClearAll();
featureSet(sbufReadU32(src)); // features bitmap
@ -1804,59 +1813,6 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
boardAlignmentMutable()->yawDegrees = sbufReadU16(src);
break;
case MSP_SET_VOLTAGE_METER_CONFIG: {
int id = sbufReadU8(src);
//
// find and configure an ADC voltage sensor
//
int voltageSensorADCIndex;
for (voltageSensorADCIndex = 0; voltageSensorADCIndex < MAX_VOLTAGE_SENSOR_ADC; voltageSensorADCIndex++) {
if (id == voltageMeterADCtoIDMap[voltageSensorADCIndex]) {
break;
}
}
if (voltageSensorADCIndex < MAX_VOLTAGE_SENSOR_ADC) {
voltageSensorADCConfigMutable(voltageSensorADCIndex)->vbatscale = sbufReadU8(src);
voltageSensorADCConfigMutable(voltageSensorADCIndex)->vbatresdivval = sbufReadU8(src);
voltageSensorADCConfigMutable(voltageSensorADCIndex)->vbatresdivmultiplier = sbufReadU8(src);
} else {
// if we had any other types of voltage sensor to configure, this is where we'd do it.
return -1;
}
break;
}
case MSP_SET_CURRENT_METER_CONFIG: {
int id = sbufReadU8(src);
switch (id) {
case CURRENT_METER_ID_BATTERY_1:
currentSensorADCConfigMutable()->scale = sbufReadU16(src);
currentSensorADCConfigMutable()->offset = sbufReadU16(src);
break;
case CURRENT_METER_ID_VIRTUAL_1:
currentSensorVirtualConfigMutable()->scale = sbufReadU16(src);
currentSensorVirtualConfigMutable()->offset = sbufReadU16(src);
break;
default:
return -1;
}
break;
}
case MSP_SET_BATTERY_CONFIG:
batteryConfigMutable()->vbatmincellvoltage = sbufReadU8(src); // vbatlevel_warn1 in MWC2.3 GUI
batteryConfigMutable()->vbatmaxcellvoltage = sbufReadU8(src); // vbatlevel_warn2 in MWC2.3 GUI
batteryConfigMutable()->vbatwarningcellvoltage = sbufReadU8(src); // vbatlevel when buzzer starts to alert
batteryConfigMutable()->batteryCapacity = sbufReadU16(src);
batteryConfigMutable()->voltageMeterSource = sbufReadU8(src);
batteryConfigMutable()->currentMeterSource = sbufReadU8(src);
break;
case MSP_SET_MIXER_CONFIG:
#ifndef USE_QUAD_MIXER_ONLY
mixerConfigMutable()->mixerMode = sbufReadU8(src);
@ -2013,6 +1969,139 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
}
return MSP_RESULT_ACK;
}
#endif
static mspResult_e mspCommonProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
{
const unsigned int dataSize = sbufBytesRemaining(src);
UNUSED(dataSize); // maybe unused due to compiler options
switch (cmdMSP) {
#ifdef TRANSPONDER
case MSP_SET_TRANSPONDER_CONFIG:
if (dataSize != sizeof(transponderConfig()->data)) {
return MSP_RESULT_ERROR;
}
for (unsigned int i = 0; i < sizeof(transponderConfig()->data); i++) {
transponderConfigMutable()->data[i] = sbufReadU8(src);
}
transponderUpdateData();
break;
#endif
case MSP_SET_VOLTAGE_METER_CONFIG: {
int id = sbufReadU8(src);
//
// find and configure an ADC voltage sensor
//
int voltageSensorADCIndex;
for (voltageSensorADCIndex = 0; voltageSensorADCIndex < MAX_VOLTAGE_SENSOR_ADC; voltageSensorADCIndex++) {
if (id == voltageMeterADCtoIDMap[voltageSensorADCIndex]) {
break;
}
}
if (voltageSensorADCIndex < MAX_VOLTAGE_SENSOR_ADC) {
voltageSensorADCConfigMutable(voltageSensorADCIndex)->vbatscale = sbufReadU8(src);
voltageSensorADCConfigMutable(voltageSensorADCIndex)->vbatresdivval = sbufReadU8(src);
voltageSensorADCConfigMutable(voltageSensorADCIndex)->vbatresdivmultiplier = sbufReadU8(src);
} else {
// if we had any other types of voltage sensor to configure, this is where we'd do it.
return -1;
}
break;
}
case MSP_SET_CURRENT_METER_CONFIG: {
int id = sbufReadU8(src);
switch (id) {
case CURRENT_METER_ID_BATTERY_1:
currentSensorADCConfigMutable()->scale = sbufReadU16(src);
currentSensorADCConfigMutable()->offset = sbufReadU16(src);
break;
#ifdef USE_VIRTUAL_CURRENT_METER
case CURRENT_METER_ID_VIRTUAL_1:
currentSensorVirtualConfigMutable()->scale = sbufReadU16(src);
currentSensorVirtualConfigMutable()->offset = sbufReadU16(src);
break;
#endif
default:
return -1;
}
break;
}
case MSP_SET_BATTERY_CONFIG:
batteryConfigMutable()->vbatmincellvoltage = sbufReadU8(src); // vbatlevel_warn1 in MWC2.3 GUI
batteryConfigMutable()->vbatmaxcellvoltage = sbufReadU8(src); // vbatlevel_warn2 in MWC2.3 GUI
batteryConfigMutable()->vbatwarningcellvoltage = sbufReadU8(src); // vbatlevel when buzzer starts to alert
batteryConfigMutable()->batteryCapacity = sbufReadU16(src);
batteryConfigMutable()->voltageMeterSource = sbufReadU8(src);
batteryConfigMutable()->currentMeterSource = sbufReadU8(src);
break;
#if defined(OSD) || defined (USE_OSD_SLAVE)
case MSP_SET_OSD_CONFIG:
{
const uint8_t addr = sbufReadU8(src);
// set all the other settings
if ((int8_t)addr == -1) {
#ifdef USE_MAX7456
vcdProfileMutable()->video_system = sbufReadU8(src);
#else
sbufReadU8(src); // Skip video system
#endif
#if defined(OSD)
osdConfigMutable()->units = sbufReadU8(src);
osdConfigMutable()->rssi_alarm = sbufReadU8(src);
osdConfigMutable()->cap_alarm = sbufReadU16(src);
osdConfigMutable()->time_alarm = sbufReadU16(src);
osdConfigMutable()->alt_alarm = sbufReadU16(src);
#endif
} else {
#if defined(OSD)
// set a position setting
const uint16_t pos = sbufReadU16(src);
if (addr < OSD_ITEM_COUNT) {
osdConfigMutable()->item_pos[addr] = pos;
}
#else
return MSP_RESULT_ERROR;
#endif
}
}
break;
case MSP_OSD_CHAR_WRITE:
#ifdef USE_MAX7456
{
uint8_t font_data[64];
const uint8_t addr = sbufReadU8(src);
for (int i = 0; i < 54; i++) {
font_data[i] = sbufReadU8(src);
}
// !!TODO - replace this with a device independent implementation
max7456WriteNvm(addr, font_data);
}
break;
#else
return MSP_RESULT_ERROR;
#endif
#endif // OSD || USE_OSD_SLAVE
default:
#ifdef USE_OSD_SLAVE
return mspOsdSlaveProcessInCommand(cmdMSP, src);
#else
return mspFcProcessInCommand(cmdMSP, src);
#endif
}
return MSP_RESULT_ERROR;
}
/*
* Returns MSP_RESULT_ACK, MSP_RESULT_ERROR or MSP_RESULT_NO_REPLY
@ -2026,8 +2115,16 @@ mspResult_e mspFcProcessCommand(mspPacket_t *cmd, mspPacket_t *reply, mspPostPro
// initialize reply by default
reply->cmd = cmd->cmd;
if (mspFcProcessOutCommand(cmdMSP, dst, mspPostProcessFn)) {
if (mspCommonProcessOutCommand(cmdMSP, dst, mspPostProcessFn)) {
ret = MSP_RESULT_ACK;
#ifndef USE_OSD_SLAVE
} else if (mspFcProcessOutCommand(cmdMSP, dst, mspPostProcessFn)) {
ret = MSP_RESULT_ACK;
#endif
#ifdef USE_OSD_SLAVE
} else if (mspOsdSlaveProcessOutCommand(cmdMSP, dst, mspPostProcessFn)) {
ret = MSP_RESULT_ACK;
#endif
#ifdef USE_SERIAL_4WAY_BLHELI_INTERFACE
} else if (cmdMSP == MSP_SET_4WAY_IF) {
mspFc4waySerialCommand(dst, src, mspPostProcessFn);
@ -2044,7 +2141,7 @@ mspResult_e mspFcProcessCommand(mspPacket_t *cmd, mspPacket_t *reply, mspPostPro
ret = MSP_RESULT_ACK;
#endif
} else {
ret = mspFcProcessInCommand(cmdMSP, src);
ret = mspCommonProcessInCommand(cmdMSP, src);
}
reply->result = ret;
return ret;
@ -2104,7 +2201,15 @@ void mspFcProcessReply(mspPacket_t *reply)
/*
* Return a pointer to the process command function
*/
#ifndef USE_OSD_SLAVE
void mspFcInit(void)
{
initActiveBoxIds();
}
#endif
#ifdef USE_OSD_SLAVE
void mspOsdSlaveInit(void)
{
}
#endif

1
src/main/fc/fc_msp.h
View File

@ -30,5 +30,6 @@ const box_t *findBoxByBoxId(uint8_t boxId);
const box_t *findBoxByPermanentId(uint8_t permenantId);
void mspFcInit(void);
void mspOsdSlaveInit(void);
mspResult_e mspFcProcessCommand(mspPacket_t *cmd, mspPacket_t *reply, mspPostProcessFnPtr *mspPostProcessFn);
void mspFcProcessReply(mspPacket_t *reply);

1
src/main/fc/fc_rc.c
View File

@ -28,7 +28,6 @@
#include "common/utils.h"
#include "common/filter.h"
#include "config/config_profile.h"
#include "config/feature.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"

20
src/main/fc/fc_tasks.c
View File

@ -29,7 +29,6 @@
#include "common/filter.h"
#include "config/feature.h"
#include "config/config_profile.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
@ -90,12 +89,14 @@ void taskBstMasterProcess(timeUs_t currentTimeUs);
#define TASK_PERIOD_MS(ms) ((ms) * 1000)
#define TASK_PERIOD_US(us) (us)
#ifndef USE_OSD_SLAVE
static void taskUpdateAccelerometer(timeUs_t currentTimeUs)
{
UNUSED(currentTimeUs);
accUpdate(&accelerometerConfigMutable()->accelerometerTrims);
}
#endif
bool taskSerialCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTimeUs) {
UNUSED(currentTimeUs);
@ -130,6 +131,7 @@ void taskBatteryAlerts(timeUs_t currentTimeUs)
batteryUpdateAlarms();
}
#ifndef USE_OSD_SLAVE
static void taskUpdateRxMain(timeUs_t currentTimeUs)
{
processRx(currentTimeUs);
@ -153,6 +155,7 @@ static void taskUpdateRxMain(timeUs_t currentTimeUs)
}
#endif
}
#endif
#ifdef MAG
static void taskUpdateCompass(timeUs_t currentTimeUs)
@ -242,6 +245,7 @@ void osdSlaveTasksInit(void)
}
#endif
#ifndef USE_OSD_SLAVE
void fcTasksInit(void)
{
schedulerInit();
@ -343,6 +347,7 @@ void fcTasksInit(void)
setTaskEnabled(TASK_GYRO_DATA_ANALYSE, true);
#endif
}
#endif
cfTask_t cfTasks[TASK_COUNT] = {
[TASK_SYSTEM] = {
@ -352,6 +357,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
.staticPriority = TASK_PRIORITY_MEDIUM_HIGH,
},
#ifndef USE_OSD_SLAVE
[TASK_GYROPID] = {
.taskName = "PID",
.subTaskName = "GYRO",
@ -381,6 +387,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
.desiredPeriod = TASK_PERIOD_HZ(50), // If event-based scheduling doesn't work, fallback to periodic scheduling
.staticPriority = TASK_PRIORITY_HIGH,
},
#endif
[TASK_SERIAL] = {
.taskName = "SERIAL",
@ -395,12 +402,14 @@ cfTask_t cfTasks[TASK_COUNT] = {
#endif
},
#ifndef USE_OSD_SLAVE
[TASK_DISPATCH] = {
.taskName = "DISPATCH",
.taskFunc = dispatchProcess,
.desiredPeriod = TASK_PERIOD_HZ(1000),
.staticPriority = TASK_PRIORITY_HIGH,
},
#endif
[TASK_BATTERY_ALERTS] = {
.taskName = "BATTERY_ALERTS",
@ -421,6 +430,8 @@ cfTask_t cfTasks[TASK_COUNT] = {
.desiredPeriod = TASK_PERIOD_HZ(50),
.staticPriority = TASK_PRIORITY_MEDIUM,
},
#ifndef USE_OSD_SLAVE
#ifdef BEEPER
[TASK_BEEPER] = {
.taskName = "BEEPER",
@ -474,6 +485,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
#endif
#ifdef TRANSPONDER
[TASK_TRANSPONDER] = {
@ -484,6 +496,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
},
#endif
#ifndef USE_OSD_SLAVE
#ifdef USE_DASHBOARD
[TASK_DASHBOARD] = {
.taskName = "DASHBOARD",
@ -500,6 +513,8 @@ cfTask_t cfTasks[TASK_COUNT] = {
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
#endif
#ifdef USE_OSD_SLAVE
[TASK_OSD_SLAVE] = {
.taskName = "OSD_SLAVE",
@ -509,6 +524,8 @@ cfTask_t cfTasks[TASK_COUNT] = {
.staticPriority = TASK_PRIORITY_HIGH,
},
#endif
#ifndef USE_OSD_SLAVE
#ifdef TELEMETRY
[TASK_TELEMETRY] = {
.taskName = "TELEMETRY",
@ -580,4 +597,5 @@ cfTask_t cfTasks[TASK_COUNT] = {
.staticPriority = TASK_PRIORITY_MEDIUM,
},
#endif
#endif
};

1
src/main/flight/navigation.c
View File

@ -31,7 +31,6 @@
#include "common/maths.h"
#include "common/time.h"
#include "config/config_profile.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"

1
src/main/flight/pid.c
View File

@ -32,7 +32,6 @@
#include "config/config_reset.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "config/config_profile.h"
#include "fc/fc_core.h"
#include "fc/fc_rc.h"

7
src/main/flight/pid.h
View File

@ -17,6 +17,7 @@
#pragma once
#ifndef USE_OSD_SLAVE
#include <stdbool.h>
#include "config/parameter_group.h"
@ -85,11 +86,6 @@ typedef struct pidProfile_s {
uint16_t rateAccelLimit; // accel limiter roll/pitch deg/sec/ms
} pidProfile_t;
#if FLASH_SIZE <= 128
#define MAX_PROFILE_COUNT 2
#else
#define MAX_PROFILE_COUNT 3
#endif
PG_DECLARE_ARRAY(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles);
typedef struct pidConfig_s {
@ -116,3 +112,4 @@ void pidInitFilters(const pidProfile_t *pidProfile);
void pidInitConfig(const pidProfile_t *pidProfile);
void pidInit(const pidProfile_t *pidProfile);
#endif

1
src/main/io/dashboard.c
View File

@ -43,7 +43,6 @@
#include "common/typeconversion.h"
#include "config/feature.h"
#include "config/config_profile.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"

1
src/main/io/ledstrip.c
View File

@ -34,7 +34,6 @@
#include "common/typeconversion.h"
#include "common/utils.h"
#include "config/config_profile.h"
#include "config/feature.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"

3
src/main/io/osd.c
View File

@ -48,7 +48,6 @@
#include "common/typeconversion.h"
#include "common/utils.h"
#include "config/config_profile.h"
#include "config/feature.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
@ -75,8 +74,8 @@
#include "fc/runtime_config.h"
#include "flight/altitude.h"
#include "flight/pid.h"
#include "flight/imu.h"
#include "flight/altitude.h"
#include "rx/rx.h"

285
src/main/osd_slave/osd_slave_init.c Normal file
View File

@ -0,0 +1,285 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include "platform.h"
#include "blackbox/blackbox.h"
#include "common/axis.h"
#include "common/color.h"
#include "common/maths.h"
#include "common/printf.h"
#include "config/config_eeprom.h"
#include "config/feature.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "drivers/nvic.h"
#include "drivers/sensor.h"
#include "drivers/system.h"
#include "drivers/dma.h"
#include "drivers/io.h"
#include "drivers/light_led.h"
#include "drivers/sound_beeper.h"
#include "drivers/timer.h"
#include "drivers/serial.h"
#include "drivers/serial_softserial.h"
#include "drivers/serial_uart.h"
#include "drivers/adc.h"
#include "drivers/bus_i2c.h"
#include "drivers/bus_spi.h"
#include "drivers/inverter.h"
#include "drivers/usb_io.h"
#include "drivers/transponder_ir.h"
#include "drivers/exti.h"
#include "fc/config.h"
#include "osd_slave/osd_slave_init.h"
#include "fc/fc_msp.h"
#include "fc/fc_tasks.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#include "fc/cli.h"
#include "msp/msp_serial.h"
#include "rx/rx.h"
#include "rx/spektrum.h"
#include "io/beeper.h"
#include "io/displayport_max7456.h"
#include "io/serial.h"
#include "io/flashfs.h"
#include "io/ledstrip.h"
#include "io/transponder_ir.h"
#include "io/osd_slave.h"
#include "scheduler/scheduler.h"
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
#include "sensors/battery.h"
#ifdef USE_HARDWARE_REVISION_DETECTION
#include "hardware_revision.h"
#endif
#include "build/build_config.h"
#include "build/debug.h"
#ifdef TARGET_PREINIT
void targetPreInit(void);
#endif
#ifdef TARGET_BUS_INIT
void targetBusInit(void);
#endif
uint8_t systemState = SYSTEM_STATE_INITIALISING;
void processLoopback(void)
{
}
#ifdef BUS_SWITCH_PIN
void busSwitchInit(void)
{
static IO_t busSwitchResetPin = IO_NONE;
busSwitchResetPin = IOGetByTag(IO_TAG(BUS_SWITCH_PIN));
IOInit(busSwitchResetPin, OWNER_SYSTEM, 0);
IOConfigGPIO(busSwitchResetPin, IOCFG_OUT_PP);
// ENABLE
IOLo(busSwitchResetPin);
}
#endif
void init(void)
{
#ifdef USE_HAL_DRIVER
HAL_Init();
#endif
printfSupportInit();
systemInit();
// initialize IO (needed for all IO operations)
IOInitGlobal();
#ifdef USE_HARDWARE_REVISION_DETECTION
detectHardwareRevision();
#endif
initEEPROM();
ensureEEPROMContainsValidData();
readEEPROM();
systemState |= SYSTEM_STATE_CONFIG_LOADED;
debugMode = systemConfig()->debug_mode;
// Latch active features to be used for feature() in the remainder of init().
latchActiveFeatures();
#ifdef TARGET_PREINIT
targetPreInit();
#endif
ledInit(statusLedConfig());
LED2_ON;
#ifdef USE_EXTI
EXTIInit();
#endif
delay(100);
timerInit(); // timer must be initialized before any channel is allocated
#ifdef BUS_SWITCH_PIN
busSwitchInit();
#endif
serialInit(false, SERIAL_PORT_NONE);
#ifdef BEEPER
beeperInit(beeperDevConfig());
#endif
/* temp until PGs are implemented. */
#ifdef USE_INVERTER
initInverters();
#endif
#ifdef TARGET_BUS_INIT
targetBusInit();
#else
#ifdef USE_SPI
#ifdef USE_SPI_DEVICE_1
spiInit(SPIDEV_1);
#endif
#ifdef USE_SPI_DEVICE_2
spiInit(SPIDEV_2);
#endif
#ifdef USE_SPI_DEVICE_3
spiInit(SPIDEV_3);
#endif
#ifdef USE_SPI_DEVICE_4
spiInit(SPIDEV_4);
#endif
#endif /* USE_SPI */
#ifdef USE_I2C
#ifdef USE_I2C_DEVICE_1
i2cInit(I2CDEV_1);
#endif
#ifdef USE_I2C_DEVICE_2
i2cInit(I2CDEV_2);
#endif
#ifdef USE_I2C_DEVICE_3
i2cInit(I2CDEV_3);
#endif
#ifdef USE_I2C_DEVICE_4
i2cInit(I2CDEV_4);
#endif
#endif /* USE_I2C */
#endif /* TARGET_BUS_INIT */
#ifdef USE_HARDWARE_REVISION_DETECTION
updateHardwareRevision();
#endif
#ifdef USE_ADC
adcConfigMutable()->vbat.enabled = (batteryConfig()->voltageMeterSource == VOLTAGE_METER_ADC);
adcConfigMutable()->current.enabled = (batteryConfig()->currentMeterSource == CURRENT_METER_ADC);
adcConfigMutable()->rssi.enabled = feature(FEATURE_RSSI_ADC);
adcInit(adcConfig());
#endif
LED1_ON;
LED0_OFF;
LED2_OFF;
for (int i = 0; i < 10; i++) {
LED1_TOGGLE;
LED0_TOGGLE;
delay(25);
if (!(getBeeperOffMask() & (1 << (BEEPER_SYSTEM_INIT - 1)))) BEEP_ON;
delay(25);
BEEP_OFF;
}
LED0_OFF;
LED1_OFF;
mspOsdSlaveInit();
mspSerialInit();
#ifdef USE_CLI
cliInit(serialConfig());
#endif
displayPort_t *osdDisplayPort = NULL;
#if defined(USE_MAX7456)
// If there is a max7456 chip for the OSD then use it
osdDisplayPort = max7456DisplayPortInit(vcdProfile());
// osdInit will register with CMS by itself.
osdSlaveInit(osdDisplayPort);
#endif
#ifdef LED_STRIP
ledStripInit();
if (feature(FEATURE_LED_STRIP)) {
ledStripEnable();
}
#endif
#ifdef USB_DETECT_PIN
usbCableDetectInit();
#endif
#ifdef TRANSPONDER
if (feature(FEATURE_TRANSPONDER)) {
transponderInit();
transponderStartRepeating();
systemState |= SYSTEM_STATE_TRANSPONDER_ENABLED;
}
#endif
timerStart();
batteryInit();
// Latch active features AGAIN since some may be modified by init().
latchActiveFeatures();
osdSlaveTasksInit();
systemState |= SYSTEM_STATE_READY;
}

13
src/main/config/config_profile.h → src/main/osd_slave/osd_slave_init.h
View File

@ -17,8 +17,13 @@
#pragma once
#include "flight/pid.h"
typedef enum {
SYSTEM_STATE_INITIALISING = 0,
SYSTEM_STATE_CONFIG_LOADED = (1 << 0),
SYSTEM_STATE_TRANSPONDER_ENABLED = (1 << 3),
SYSTEM_STATE_READY = (1 << 7)
} systemState_e;
typedef struct profile_s {
pidProfile_t pidProfile;
} profile_t;
extern uint8_t systemState;
void init(void);

9
src/main/platform.h
View File

@ -82,6 +82,11 @@
#error "Invalid chipset specified. Update platform.h"
#endif
#include "target/common.h"
#ifdef USE_OSD_SLAVE
#include "target/common_osd_slave.h"
#include "target.h"
#include "target/common_post.h"
#else
#include "target/common_fc_pre.h"
#include "target.h"
#include "target/common_fc_post.h"
#endif

10
src/main/sensors/battery.c
View File

@ -73,7 +73,11 @@ static batteryState_e consumptionState;
#ifdef BOARD_HAS_CURRENT_SENSOR
#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
#else
#ifdef USE_VIRTUAL_CURRENT_METER
#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_VIRTUAL
#else
#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_NONE
#endif
#endif
#ifdef BOARD_HAS_VOLTAGE_DIVIDER
@ -290,11 +294,15 @@ void batteryInit(void)
break;
case CURRENT_METER_VIRTUAL:
#ifdef USE_VIRTUAL_CURRENT_METER
currentMeterVirtualInit();
#endif
break;
case CURRENT_METER_ESC:
#ifdef ESC_SENSOR
currentMeterESCInit();
#endif
break;
default:
@ -337,12 +345,14 @@ void batteryUpdateCurrentMeter(timeUs_t currentTimeUs)
break;
case CURRENT_METER_VIRTUAL: {
#ifdef USE_VIRTUAL_CURRENT_METER
throttleStatus_e throttleStatus = calculateThrottleStatus();
bool throttleLowAndMotorStop = (throttleStatus == THROTTLE_LOW && feature(FEATURE_MOTOR_STOP));
int32_t throttleOffset = (int32_t)rcCommand[THROTTLE] - 1000;
currentMeterVirtualRefresh(lastUpdateAt, ARMING_FLAG(ARMED), throttleLowAndMotorStop, throttleOffset);
currentMeterVirtualRead(&currentMeter);
#endif
break;
}

36
src/main/sensors/current.c
View File

@ -38,7 +38,9 @@
const uint8_t currentMeterIds[] = {
CURRENT_METER_ID_BATTERY_1,
#ifdef USE_VIRTUAL_CURRENT_METER
CURRENT_METER_ID_VIRTUAL_1,
#endif
#ifdef USE_ESC_SENSOR
CURRENT_METER_ID_ESC_COMBINED_1,
CURRENT_METER_ID_ESC_MOTOR_1,
@ -93,7 +95,9 @@ PG_RESET_TEMPLATE(currentSensorADCConfig_t, currentSensorADCConfig,
.offset = CURRENT_METER_OFFSET_DEFAULT,
);
#ifdef USE_VIRTUAL_CURRENT_METER
PG_REGISTER(currentSensorVirtualConfig_t, currentSensorVirtualConfig, PG_CURRENT_SENSOR_VIRTUAL_CONFIG, 0);
#endif
static int32_t currentMeterADCToCentiamps(const uint16_t src)
{
@ -144,6 +148,7 @@ void currentMeterADCRead(currentMeter_t *meter)
// VIRTUAL
//
#ifdef USE_VIRTUAL_CURRENT_METER
currentSensorVirtualState_t currentMeterVirtualState;
void currentMeterVirtualInit(void)
@ -171,6 +176,7 @@ void currentMeterVirtualRead(currentMeter_t *meter)
meter->amperage = currentMeterVirtualState.amperage;
meter->mAhDrawn = currentMeterVirtualState.mahDrawnState.mAhDrawn;
}
#endif
//
// ESC
@ -178,19 +184,16 @@ void currentMeterVirtualRead(currentMeter_t *meter)
#ifdef USE_ESC_SENSOR
currentMeterESCState_t currentMeterESCState;
#endif
void currentMeterESCInit(void)
{
#ifdef USE_ESC_SENSOR
memset(&currentMeterESCState, 0, sizeof(currentMeterESCState_t));
#endif
}
void currentMeterESCRefresh(int32_t lastUpdateAt)
{
UNUSED(lastUpdateAt);
#ifdef USE_ESC_SENSOR
escSensorData_t *escData = getEscSensorData(ESC_SENSOR_COMBINED);
if (escData->dataAge <= ESC_BATTERY_AGE_MAX) {
currentMeterESCState.amperage = escData->current;
@ -199,26 +202,18 @@ void currentMeterESCRefresh(int32_t lastUpdateAt)
currentMeterESCState.amperage = 0;
currentMeterESCState.mAhDrawn = 0;
}
#endif
}
void currentMeterESCReadCombined(currentMeter_t *meter)
{
#ifdef USE_ESC_SENSOR
meter->amperageLatest = currentMeterESCState.amperage;
meter->amperage = currentMeterESCState.amperage;
meter->mAhDrawn = currentMeterESCState.mAhDrawn;
#else
currentMeterReset(meter);
#endif
}
void currentMeterESCReadMotor(uint8_t motorNumber, currentMeter_t *meter)
{
#ifndef USE_ESC_SENSOR
UNUSED(motorNumber);
currentMeterReset(meter);
#else
escSensorData_t *escData = getEscSensorData(motorNumber);
if (escData && escData->dataAge <= ESC_BATTERY_AGE_MAX) {
meter->amperage = escData->current;
@ -227,8 +222,8 @@ void currentMeterESCReadMotor(uint8_t motorNumber, currentMeter_t *meter)
} else {
currentMeterReset(meter);
}
#endif
}
#endif
//
// API for current meters using IDs
@ -240,19 +235,22 @@ void currentMeterRead(currentMeterId_e id, currentMeter_t *meter)
{
if (id == CURRENT_METER_ID_BATTERY_1) {
currentMeterADCRead(meter);
} else if (id == CURRENT_METER_ID_VIRTUAL_1) {
}
#ifdef USE_VIRTUAL_CURRENT_METER
else if (id == CURRENT_METER_ID_VIRTUAL_1) {
currentMeterVirtualRead(meter);
}
#endif
#ifdef USE_ESC_SENSOR
if (id == CURRENT_METER_ID_ESC_COMBINED_1) {
else if (id == CURRENT_METER_ID_ESC_COMBINED_1) {
currentMeterESCReadCombined(meter);
} else
if (id >= CURRENT_METER_ID_ESC_MOTOR_1 && id <= CURRENT_METER_ID_ESC_MOTOR_20 ) {
}
else if (id >= CURRENT_METER_ID_ESC_MOTOR_1 && id <= CURRENT_METER_ID_ESC_MOTOR_20 ) {
int motor = id - CURRENT_METER_ID_ESC_MOTOR_1;
currentMeterESCReadMotor(motor, meter);
} else
}
#endif
{
else {
currentMeterReset(meter);
}
}

1
src/main/target/COLIBRI_RACE/i2c_bst.c
View File

@ -69,7 +69,6 @@
#include "flight/servos.h"
#include "config/config_eeprom.h"
#include "config/config_profile.h"
#include "config/feature.h"
#include "bus_bst.h"

14
src/main/target/SPRACINGF3OSD/target.h
View File

@ -88,20 +88,6 @@
#define TRANSPONDER
#define USE_OSD_SLAVE
#undef OSD
#undef GPS
#undef BLACKBOX
#undef TELEMETRY
#undef USE_SERVOS
#undef VTX_COMMON
#undef VTX_CONTROL
#undef VTX_SMARTAUDIO
#undef VTX_TRAMP
#undef USE_MSP_DISPLAYPORT
#define DEFAULT_FEATURES (FEATURE_TRANSPONDER)
// IO - assuming 303 in 64pin package, TODO

0
src/main/target/common_post.h → src/main/target/common_fc_post.h
View File

7
src/main/target/common.h → src/main/target/common_fc_pre.h
View File

@ -81,6 +81,12 @@
#define USE_SERIALRX_SUMH // Graupner legacy protocol
#define USE_SERIALRX_XBUS // JR
#if (FLASH_SIZE > 64)
#define MAX_PROFILE_COUNT 3
#else
#define MAX_PROFILE_COUNT 2
#endif
#if (FLASH_SIZE > 64)
#define BLACKBOX
#define LED_STRIP
@ -106,6 +112,7 @@
#define USE_RX_MSP
#define USE_SERIALRX_JETIEXBUS
#define USE_SENSOR_NAMES
#define USE_VIRTUAL_CURRENT_METER
#define VTX_COMMON
#define VTX_CONTROL
#define VTX_SMARTAUDIO

60
src/main/target/common_osd_slave.h Normal file
View File

@ -0,0 +1,60 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#define USE_PARAMETER_GROUPS
// type conversion warnings.
// -Wconversion can be turned on to enable the process of eliminating these warnings
//#pragma GCC diagnostic warning "-Wconversion"
#pragma GCC diagnostic ignored "-Wsign-conversion"
// -Wpadded can be turned on to check padding of structs
//#pragma GCC diagnostic warning "-Wpadded"
//#define SCHEDULER_DEBUG // define this to use scheduler debug[] values. Undefined by default for performance reasons
#define DEBUG_MODE DEBUG_NONE // change this to change initial debug mode
#define I2C1_OVERCLOCK true
#define I2C2_OVERCLOCK true
#define MAX_PROFILE_COUNT 0
#ifdef STM32F1
#define MINIMAL_CLI
#endif
#ifdef STM32F3
#define MINIMAL_CLI
#endif
#ifdef STM32F4
#define I2C3_OVERCLOCK true
#endif
#ifdef STM32F7
#define I2C3_OVERCLOCK true
#define I2C4_OVERCLOCK true
#endif
#if defined(STM32F4) || defined(STM32F7)
#define SCHEDULER_DELAY_LIMIT 10
#else
#define SCHEDULER_DELAY_LIMIT 100
#endif
//CLI needs FC dependencies removed before we can compile it, disabling for now
//#define USE_CLI

1
src/main/telemetry/mavlink.c
View File

@ -32,7 +32,6 @@
#include "common/axis.h"
#include "common/color.h"
#include "config/config_profile.h"
#include "config/feature.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"

1
src/main/telemetry/smartport.c
View File

@ -16,7 +16,6 @@
#include "common/maths.h"
#include "common/utils.h"
#include "config/config_profile.h"
#include "config/feature.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"

1
src/test/unit/platform.h
View File

@ -23,6 +23,7 @@
#define U_ID_1 1
#define U_ID_2 2
#define MAX_PROFILE_COUNT 3
#define MAG
#define BARO
#define GPS