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CF/BF - First cut of allow building of the OSD SLAVE board without all 

the flight controller code.

Likely the dependencies can be further improved.  This is a
minimal-impact solution while there are a lot of other Betaflight PR's
still pending.
This commit is contained in:
Hydra 2017-04-09 18:16:10 +01:00 committed by Dominic Clifton
parent 2ec39de031
commit 2b1dac4c6d
38 changed files with 923 additions and 409 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

85
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/rc_controls.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/fc_rc.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 +796,20 @@ 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
TARGET_FLAGS := -DUSE_FC $(TARGET_FLAGS)
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"

1
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"

47
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"
@ -67,6 +66,7 @@
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#ifdef USE_FC
#include "flight/altitude.h"
#include "flight/failsafe.h"
#include "flight/imu.h"
@ -74,6 +74,7 @@
#include "flight/navigation.h"
#include "flight/pid.h"
#include "flight/servos.h"
#endif
#include "io/beeper.h"
#include "io/gimbal.h"
@ -98,7 +99,9 @@
#include "telemetry/telemetry.h"
#ifdef USE_FC
pidProfile_t *currentPidProfile;
#endif
#ifndef DEFAULT_FEATURES
#define DEFAULT_FEATURES 0
@ -118,13 +121,22 @@ PG_RESET_TEMPLATE(featureConfig_t, featureConfig,
PG_REGISTER_WITH_RESET_TEMPLATE(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0);
#ifdef USE_FC
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 +459,7 @@ void pgResetFn_statusLedConfig(statusLedConfig_t *statusLedConfig)
;
}
#ifdef USE_FC
uint8_t getCurrentPidProfileIndex(void)
{
return systemConfig()->pidProfileIndex;
@ -470,6 +483,7 @@ uint16_t getCurrentMinthrottle(void)
{
return motorConfig()->minthrottle;
}
#endif
void resetConfigs(void)
{
@ -481,8 +495,10 @@ void resetConfigs(void)
pgActivateProfile(0);
#ifdef USE_FC
setPidProfile(0);
setControlRateProfile(0);
#endif
#ifdef LED_STRIP
reevaluateLedConfig();
@ -491,6 +507,7 @@ void resetConfigs(void)
void activateConfig(void)
{
#ifdef USE_FC
generateThrottleCurve();
resetAdjustmentStates();
@ -509,10 +526,12 @@ void activateConfig(void)
imuConfigure(throttleCorrectionConfig()->throttle_correction_angle);
configureAltitudeHold(currentPidProfile);
#endif
}
void validateAndFixConfig(void)
{
#ifdef USE_FC
if((motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) && (motorConfig()->mincommand < 1000)){
motorConfigMutable()->mincommand = 1000;
}
@ -571,22 +590,24 @@ 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
}
#ifdef USE_FC
void validateAndFixGyroConfig(void)
{
// Prevent invalid notch cutoff
@ -662,16 +683,19 @@ void validateAndFixGyroConfig(void)
motorConfigMutable()->dev.motorPwmRate = maxEscRate;
}
}
#endif
void readEEPROM(void)
{
#ifdef USE_FC
suspendRxSignal();
#endif
// Sanity check, read flash
if (!loadEEPROM()) {
failureMode(FAILURE_INVALID_EEPROM_CONTENTS);
}
#ifdef USE_FC
if (systemConfig()->activeRateProfile >= CONTROL_RATE_PROFILE_COUNT) {// sanity check
systemConfigMutable()->activeRateProfile = 0;
}
@ -681,20 +705,27 @@ void readEEPROM(void)
systemConfigMutable()->pidProfileIndex = 0;
}
setPidProfile(systemConfig()->pidProfileIndex);
#endif
validateAndFixConfig();
activateConfig();
#ifdef USE_FC
resumeRxSignal();
#endif
}
void writeEEPROM(void)
{
#ifdef USE_FC
suspendRxSignal();
#endif
writeConfigToEEPROM();
#ifdef USE_FC
resumeRxSignal();
#endif
}
void resetEEPROM(void)
@ -718,6 +749,7 @@ void saveConfigAndNotify(void)
beeperConfirmationBeeps(1);
}
#ifdef USE_FC
void changePidProfile(uint8_t pidProfileIndex)
{
if (pidProfileIndex >= MAX_PROFILE_COUNT) {
@ -727,6 +759,7 @@ 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
#ifdef USE_FC
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;
#ifdef USE_FC
// 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"

743
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"
@ -109,11 +108,10 @@
#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;
#ifdef USE_FC
static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ BOXARM, "ARM", 0 },
{ BOXANGLE, "ANGLE", 1 },
@ -180,6 +178,7 @@ typedef enum {
} mspSDCardFlags_e;
#define RATEPROFILE_MASK (1 << 7)
#endif
#ifdef USE_SERIAL_4WAY_BLHELI_INTERFACE
#define ESC_4WAY 0xff
@ -244,13 +243,16 @@ static void mspRebootFn(serialPort_t *serialPort)
{
UNUSED(serialPort);
#ifdef USE_FC
stopPwmAllMotors();
#endif
systemReset();
// control should never return here.
while (true) ;
}
#ifdef USE_FC
const box_t *findBoxByBoxId(uint8_t boxId)
{
for (uint8_t boxIndex = 0; boxIndex < sizeof(boxes) / sizeof(box_t); boxIndex++) {
@ -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 +588,240 @@ 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.
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_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
#ifdef USE_FC
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 +837,6 @@ 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 +867,15 @@ 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);
@ -649,8 +886,6 @@ 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);
}
@ -708,11 +943,10 @@ 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 +1070,11 @@ 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 +1209,6 @@ 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 +1281,6 @@ 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 +1315,7 @@ 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 +1359,16 @@ 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
#ifdef USE_FC
static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
{
uint32_t i;
@ -1637,75 +1705,6 @@ 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:
{
@ -1804,59 +1803,6 @@ 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 +1959,145 @@ 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)
{
// uint32_t i;
// uint8_t value;
const unsigned int dataSize = sbufBytesRemaining(src);
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;
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;
#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
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 +2111,16 @@ 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;
#ifdef USE_FC
} 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 +2137,7 @@ 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 +2197,15 @@ void mspFcProcessReply(mspPacket_t *reply)
/*
* Return a pointer to the process command function
*/
#ifdef USE_FC
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"
@ -49,10 +48,12 @@
#include "fc/cli.h"
#include "fc/fc_dispatch.h"
#ifdef USE_FC
#include "flight/altitude.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#endif
#include "io/beeper.h"
#include "io/dashboard.h"
@ -130,6 +131,7 @@ void taskBatteryAlerts(timeUs_t currentTimeUs)
batteryUpdateAlarms();
}
#ifdef USE_FC
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
#ifdef USE_FC
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,
},
#ifdef USE_FC
[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
},
#ifdef USE_FC
[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,
},
#ifdef USE_FC
#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
#ifdef USE_FC
#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
#ifdef USE_FC
#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"

5
src/main/flight/pid.h
View File

@ -85,11 +85,6 @@ 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 {

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

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

6
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

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"

2
src/test/Makefile
View File

@ -190,7 +190,7 @@ COMMON_FLAGS = \
-ggdb3 \
-pthread \
-O0 \
-DUNIT_TEST \
-DUNIT_TEST -DUSE_FC\
-isystem $(GTEST_DIR)/inc \
-MMD -MP

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