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Merge pull request #2563 from martinbudden/bf_pg_cli5 

PG CLI additions 5
This commit is contained in:
Martin Budden 2017-03-06 20:38:08 +00:00 committed by GitHub
parent bef5a08d8a 1e529a96b9
commit 5b949596ee
8 changed files with 212 additions and 113 deletions
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35
src/main/cms/cms_menu_vtx.c
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@ -38,8 +38,19 @@
#include "config/parameter_group.h" #include "config/parameter_group.h"
#include "config/parameter_group_ids.h" #include "config/parameter_group_ids.h"
#include "fc/config.h"
#include "io/vtx.h"
static bool featureRead = false; static bool featureRead = false;
static uint8_t cmsx_featureVtx = 0, cmsx_vtxBand, cmsx_vtxChannel; static uint8_t cmsx_featureVtx = 0;
static uint8_t cmsx_vtxBand;
static uint8_t cmsx_vtxChannel;
#ifdef VTX
static uint8_t cmsx_vtxMode;
static uint16_t cmsx_vtxMhz;
#endif
static bool cmsx_vtxPower;
static long cmsx_Vtx_FeatureRead(void) static long cmsx_Vtx_FeatureRead(void)
{ {
@ -73,13 +84,20 @@ static const char * const vtxBandNames[] = {
static OSD_TAB_t entryVtxBand = {&cmsx_vtxBand,4,&vtxBandNames[0]}; static OSD_TAB_t entryVtxBand = {&cmsx_vtxBand,4,&vtxBandNames[0]};
static OSD_UINT8_t entryVtxChannel = {&cmsx_vtxChannel, 1, 8, 1}; static OSD_UINT8_t entryVtxChannel = {&cmsx_vtxChannel, 1, 8, 1};
#ifdef VTX
static OSD_UINT8_t entryVtxMode = {&cmsx_vtxMode, 0, 2, 1};
static OSD_UINT16_t entryVtxMhz = {&cmsx_vtxMhz, 5600, 5950, 1};
#endif // VTX
static void cmsx_Vtx_ConfigRead(void) static void cmsx_Vtx_ConfigRead(void)
{ {
#ifdef VTX #ifdef VTX
cmsx_vtxBand = vtxConfig()->vtx_band; cmsx_vtxBand = vtxConfig()->vtx_band;
cmsx_vtxChannel = vtxConfig()->vtx_channel + 1; cmsx_vtxChannel = vtxConfig()->vtx_channel + 1;
cmsx_vtxMode = vtxConfig()->vtx_mode;
cmsx_vtxMhz = vtxConfig()->vtx_mhz;
#endif // VTX #endif // VTX
cmsx_vtxPower = vtxConfig()->vtx_power;
#ifdef USE_RTC6705 #ifdef USE_RTC6705
cmsx_vtxBand = vtxConfig()->vtx_channel / 8; cmsx_vtxBand = vtxConfig()->vtx_channel / 8;
@ -90,12 +108,15 @@ static void cmsx_Vtx_ConfigRead(void)
static void cmsx_Vtx_ConfigWriteback(void) static void cmsx_Vtx_ConfigWriteback(void)
{ {
#ifdef VTX #ifdef VTX
vtxConfig()->vtx_band = cmsx_vtxBand; vtxConfigMutable()->vtx_band = cmsx_vtxBand;
vtxConfig()->vtx_channel = cmsx_vtxChannel - 1; vtxConfigMutable()->vtx_channel = cmsx_vtxChannel - 1;
vtxConfigMutable()->vtx_mode = cmsx_vtxMode;
vtxConfigMutable()->vtx_mhz = cmsx_vtxMhz;
#endif // VTX #endif // VTX
vtxConfigMutable()->vtx_power = cmsx_vtxPower;
#ifdef USE_RTC6705 #ifdef USE_RTC6705
vtxConfig()->vtx_channel = cmsx_vtxBand * 8 + cmsx_vtxChannel - 1; vtxConfigMutable()->vtx_channel = cmsx_vtxBand * 8 + cmsx_vtxChannel - 1;
#endif // USE_RTC6705 #endif // USE_RTC6705
} }
@ -116,10 +137,6 @@ static long cmsx_Vtx_onExit(const OSD_Entry *self)
return 0; return 0;
} }
#ifdef VTX
static OSD_UINT8_t entryVtxMode = {&vtxConfig()->vtx_mode, 0, 2, 1};
static OSD_UINT16_t entryVtxMhz = {&vtxConfig()->vtx_mhz, 5600, 5950, 1};
#endif // VTX
static OSD_Entry cmsx_menuVtxEntries[] = static OSD_Entry cmsx_menuVtxEntries[] =
{ {
@ -132,7 +149,7 @@ static OSD_Entry cmsx_menuVtxEntries[] =
{"BAND", OME_TAB, NULL, &entryVtxBand, 0}, {"BAND", OME_TAB, NULL, &entryVtxBand, 0},
{"CHANNEL", OME_UINT8, NULL, &entryVtxChannel, 0}, {"CHANNEL", OME_UINT8, NULL, &entryVtxChannel, 0},
#ifdef USE_RTC6705 #ifdef USE_RTC6705
{"LOW POWER", OME_Bool, NULL, &vtxConfig()->vtx_power, 0}, {"LOW POWER", OME_Bool, NULL, &cmsx_vtxPower, 0},
#endif // USE_RTC6705 #endif // USE_RTC6705
{"BACK", OME_Back, NULL, NULL, 0}, {"BACK", OME_Back, NULL, NULL, 0},
{NULL, OME_END, NULL, NULL, 0} {NULL, OME_END, NULL, NULL, 0}

3
src/main/config/parameter_group_ids.h
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@ -96,7 +96,8 @@
#define PG_DISPLAY_PORT_MSP_CONFIG 512 #define PG_DISPLAY_PORT_MSP_CONFIG 512
#define PG_DISPLAY_PORT_MAX7456_CONFIG 513 #define PG_DISPLAY_PORT_MAX7456_CONFIG 513
#define PG_VCD_CONFIG 514 #define PG_VCD_CONFIG 514
#define PG_BETAFLIGHT_END 514 #define PG_VTX_CONFIG 515
#define PG_BETAFLIGHT_END 515
// OSD configuration (subject to change) // OSD configuration (subject to change)

83
src/main/fc/cli.c
View File

@ -505,6 +505,14 @@ static const clivalue_t valueTable[] = {
{ "gyro_notch2_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_hz_2) }, { "gyro_notch2_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_hz_2) },
{ "gyro_notch2_cutoff", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 1, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_cutoff_2) }, { "gyro_notch2_cutoff", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 1, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_soft_notch_cutoff_2) },
{ "moron_threshold", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 128 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyroMovementCalibrationThreshold) }, { "moron_threshold", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 128 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyroMovementCalibrationThreshold) },
#if defined(GYRO_USES_SPI)
#if defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
{ "gyro_use_32khz", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_use_32khz) },
#endif
#if defined(USE_MPU_DATA_READY_SIGNAL)
{ "gyro_isr_update", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_isr_update) },
#endif
#endif
// PG_ACCELEROMETER_CONFIG // PG_ACCELEROMETER_CONFIG
{ "align_acc", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ALIGNMENT }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, acc_align) }, { "align_acc", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ALIGNMENT }, PG_ACCELEROMETER_CONFIG, offsetof(accelerometerConfig_t, acc_align) },
@ -539,9 +547,10 @@ static const clivalue_t valueTable[] = {
{ "rssi_channel", VAR_INT8 | MASTER_VALUE, .config.minmax = { 0, MAX_SUPPORTED_RC_CHANNEL_COUNT }, PG_RX_CONFIG, offsetof(rxConfig_t, rssi_channel) }, { "rssi_channel", VAR_INT8 | MASTER_VALUE, .config.minmax = { 0, MAX_SUPPORTED_RC_CHANNEL_COUNT }, PG_RX_CONFIG, offsetof(rxConfig_t, rssi_channel) },
{ "rssi_scale", VAR_UINT8 | MASTER_VALUE, .config.minmax = { RSSI_SCALE_MIN, RSSI_SCALE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rssi_scale) }, { "rssi_scale", VAR_UINT8 | MASTER_VALUE, .config.minmax = { RSSI_SCALE_MIN, RSSI_SCALE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rssi_scale) },
{ "rssi_invert", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, rssi_invert) }, { "rssi_invert", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, rssi_invert) },
{ "rc_interpolation", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RC_INTERPOLATION }, PG_RX_CONFIG, offsetof(rxConfig_t, rcInterpolation) }, { "rc_interp", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RC_INTERPOLATION }, PG_RX_CONFIG, offsetof(rxConfig_t, rcInterpolation) },
{ "rc_interpolation_interval", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 1, 50 }, PG_RX_CONFIG, offsetof(rxConfig_t, rcInterpolationInterval) }, { "rc_interp_ch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RC_INTERPOLATION_CHANNELS }, PG_RX_CONFIG, offsetof(rxConfig_t, rcInterpolationChannels) },
{ "roll_yaw_cam_mix_degrees", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 50 }, PG_RX_CONFIG, offsetof(rxConfig_t, fpvCamAngleDegrees) }, { "rc_interp_int", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 1, 50 }, PG_RX_CONFIG, offsetof(rxConfig_t, rcInterpolationInterval) },
{ "fpv_mix_degrees", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 50 }, PG_RX_CONFIG, offsetof(rxConfig_t, fpvCamAngleDegrees) },
{ "max_aux_channels", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 13 }, PG_RX_CONFIG, offsetof(rxConfig_t, max_aux_channel) }, { "max_aux_channels", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 13 }, PG_RX_CONFIG, offsetof(rxConfig_t, max_aux_channel) },
#ifdef SERIAL_RX #ifdef SERIAL_RX
{ "serialrx_provider", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_SERIAL_RX }, PG_RX_CONFIG, offsetof(rxConfig_t, serialrx_provider) }, { "serialrx_provider", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_SERIAL_RX }, PG_RX_CONFIG, offsetof(rxConfig_t, serialrx_provider) },
@ -551,9 +560,17 @@ static const clivalue_t valueTable[] = {
{ "spektrum_sat_bind", VAR_UINT8 | MASTER_VALUE, .config.minmax = { SPEKTRUM_SAT_BIND_DISABLED, SPEKTRUM_SAT_BIND_MAX}, PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_sat_bind) }, { "spektrum_sat_bind", VAR_UINT8 | MASTER_VALUE, .config.minmax = { SPEKTRUM_SAT_BIND_DISABLED, SPEKTRUM_SAT_BIND_MAX}, PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_sat_bind) },
{ "spektrum_sat_bind_autoreset",VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 1}, PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_sat_bind_autoreset) }, { "spektrum_sat_bind_autoreset",VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 1}, PG_RX_CONFIG, offsetof(rxConfig_t, spektrum_sat_bind_autoreset) },
#endif #endif
{ "airmode_activate_throttle", VAR_UINT16 | MASTER_VALUE, .config.minmax = {1000, 2000 }, PG_RX_CONFIG, offsetof(rxConfig_t, airModeActivateThreshold) }, { "airmode_start_throttle", VAR_UINT16 | MASTER_VALUE, .config.minmax = {1000, 2000 }, PG_RX_CONFIG, offsetof(rxConfig_t, airModeActivateThreshold) },
{ "rx_min_usec", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rx_min_usec) }, { "rx_min_usec", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rx_min_usec) },
{ "rx_max_usec", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rx_max_usec) }, { "rx_max_usec", VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_RX_CONFIG, offsetof(rxConfig_t, rx_max_usec) },
#ifdef STM32F4
{ "serialrx_halfduplex", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RX_CONFIG, offsetof(rxConfig_t, halfDuplex) },
#endif
// PG_PWM_CONFIG
#if defined(USE_PWM)
{ "input_filtering_mode", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PWM_CONFIG, offsetof(pwmConfig_t, inputFilteringMode) },
#endif
// PG_BLACKBOX_CONFIG // PG_BLACKBOX_CONFIG
#ifdef BLACKBOX #ifdef BLACKBOX
@ -575,6 +592,10 @@ static const clivalue_t valueTable[] = {
{ "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 200, 32000 }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.motorPwmRate) }, { "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 200, 32000 }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.motorPwmRate) },
{ "motor_pwm_inversion", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.motorPwmInversion) }, { "motor_pwm_inversion", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.motorPwmInversion) },
// PG_THROTTLE_CORRECTION_CONFIG
{ "thr_corr_value", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 150 }, PG_THROTTLE_CORRECTION_CONFIG, offsetof(throttleCorrectionConfig_t, throttle_correction_value) },
{ "thr_corr_angle", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 1, 900 }, PG_THROTTLE_CORRECTION_CONFIG, offsetof(throttleCorrectionConfig_t, throttle_correction_angle) },
// PG_FAILSAFE_CONFIG // PG_FAILSAFE_CONFIG
{ "failsafe_delay", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 200 }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_delay) }, { "failsafe_delay", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 200 }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_delay) },
{ "failsafe_off_delay", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 200 }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_off_delay) }, { "failsafe_off_delay", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 200 }, PG_FAILSAFE_CONFIG, offsetof(failsafeConfig_t, failsafe_off_delay) },
@ -610,6 +631,12 @@ static const clivalue_t valueTable[] = {
{ "use_cbat_alerts", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, useConsumptionAlerts) }, { "use_cbat_alerts", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, useConsumptionAlerts) },
{ "cbat_alert_percent", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 100 }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, consumptionWarningPercentage) }, { "cbat_alert_percent", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 100 }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, consumptionWarningPercentage) },
// PG_BEEPER_DEV_CONFIG
#ifdef BEEPER
{ "beeper_inversion", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_BEEPER_DEV_CONFIG, offsetof(beeperDevConfig_t, isInverted) },
{ "beeper_od", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_BEEPER_DEV_CONFIG, offsetof(beeperDevConfig_t, isOpenDrain) },
#endif
// PG_MIXER_CONFIG // PG_MIXER_CONFIG
{ "yaw_motor_direction", VAR_INT8 | MASTER_VALUE, .config.minmax = { -1, 1 }, PG_MIXER_CONFIG, offsetof(mixerConfig_t, yaw_motor_direction) }, { "yaw_motor_direction", VAR_INT8 | MASTER_VALUE, .config.minmax = { -1, 1 }, PG_MIXER_CONFIG, offsetof(mixerConfig_t, yaw_motor_direction) },
@ -625,6 +652,7 @@ static const clivalue_t valueTable[] = {
{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 50, 498 }, PG_SERVO_CONFIG, offsetof(servoConfig_t, dev.servoPwmRate) }, { "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 50, 498 }, PG_SERVO_CONFIG, offsetof(servoConfig_t, dev.servoPwmRate) },
{ "servo_lowpass_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 400}, PG_SERVO_CONFIG, offsetof(servoConfig_t, servo_lowpass_freq) }, { "servo_lowpass_hz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 400}, PG_SERVO_CONFIG, offsetof(servoConfig_t, servo_lowpass_freq) },
{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_SERVO_CONFIG, offsetof(servoConfig_t, tri_unarmed_servo) }, { "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_SERVO_CONFIG, offsetof(servoConfig_t, tri_unarmed_servo) },
{ "channel_forwarding_start", VAR_UINT8 | MASTER_VALUE, .config.minmax = { AUX1, MAX_SUPPORTED_RC_CHANNEL_COUNT }, PG_SERVO_CONFIG, offsetof(servoConfig_t, channelForwardingStartChannel) },
#endif #endif
// PG_CONTROLRATE_PROFILES // PG_CONTROLRATE_PROFILES
@ -666,6 +694,18 @@ static const clivalue_t valueTable[] = {
{ "gps_auto_baud", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_CONFIG, offsetof(gpsConfig_t, autoBaud) }, { "gps_auto_baud", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_CONFIG, offsetof(gpsConfig_t, autoBaud) },
#endif #endif
// PG_NAVIGATION_CONFIG
#ifdef GPS
{ "gps_wp_radius", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 2000 }, PG_NAVIGATION_CONFIG, offsetof(navigationConfig_t, gps_wp_radius) },
{ "nav_controls_heading", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_NAVIGATION_CONFIG, offsetof(navigationConfig_t, nav_controls_heading) },
{ "nav_speed_min", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 10, 2000 }, PG_NAVIGATION_CONFIG, offsetof(navigationConfig_t, nav_speed_min) },
{ "nav_speed_max", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 10, 2000 }, PG_NAVIGATION_CONFIG, offsetof(navigationConfig_t, nav_speed_max) },
{ "nav_slew_rate", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 100 }, PG_NAVIGATION_CONFIG, offsetof(navigationConfig_t, nav_slew_rate) },
#endif
// PG_AIRPLANE_CONFIG
{ "fixedwing_althold_dir", VAR_INT8 | MASTER_VALUE, .config.minmax = { -1, 1 }, PG_AIRPLANE_CONFIG, offsetof(airplaneConfig_t, fixedwing_althold_dir) },
// PG_RC_CONTROLS_CONFIG // PG_RC_CONTROLS_CONFIG
{ "alt_hold_deadband", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 1, 250 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, alt_hold_deadband) }, { "alt_hold_deadband", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 1, 250 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, alt_hold_deadband) },
{ "alt_hold_fast_change", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, alt_hold_fast_change) }, { "alt_hold_fast_change", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, alt_hold_fast_change) },
@ -690,6 +730,7 @@ static const clivalue_t valueTable[] = {
{ "iterm_windup", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 30, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermWindupPointPercent) }, { "iterm_windup", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 30, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermWindupPointPercent) },
{ "yaw_lowpass", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, yaw_lpf_hz) }, { "yaw_lowpass", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, yaw_lpf_hz) },
{ "pid_process_denom", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 1, MAX_PID_PROCESS_DENOM }, PG_PID_CONFIG, offsetof(pidConfig_t, pid_process_denom) }, { "pid_process_denom", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 1, MAX_PID_PROCESS_DENOM }, PG_PID_CONFIG, offsetof(pidConfig_t, pid_process_denom) },
{ "pidsum_limit", VAR_FLOAT | PROFILE_VALUE, .config.minmax = { 0.1, 1.0 }, PG_PID_CONFIG, offsetof(pidProfile_t, pidSumLimit) },
{ "p_pitch", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, P8[PITCH]) }, { "p_pitch", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, P8[PITCH]) },
{ "i_pitch", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, I8[PITCH]) }, { "i_pitch", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, I8[PITCH]) },
@ -746,6 +787,13 @@ static const clivalue_t valueTable[] = {
#endif #endif
// PG_LED_STRIP_CONFIG // PG_LED_STRIP_CONFIG
#ifdef LED_STRIP
{ "ledstrip_visual_beeper", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_LED_STRIP_CONFIG, offsetof(ledStripConfig_t, ledstrip_visual_beeper) },
#endif
#ifdef USE_SDCARD
{ "sdcard_dma", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_SDCARD_CONFIG, offsetof(sdcardConfig_t, useDma) },
#endif
// PG_OSD_CONFIG // PG_OSD_CONFIG
#ifdef OSD #ifdef OSD
@ -784,6 +832,30 @@ static const clivalue_t valueTable[] = {
{ "task_statistics", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_SYSTEM_CONFIG, offsetof(systemConfig_t, task_statistics) }, { "task_statistics", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_SYSTEM_CONFIG, offsetof(systemConfig_t, task_statistics) },
#endif #endif
{ "debug_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DEBUG }, PG_SYSTEM_CONFIG, offsetof(systemConfig_t, debug_mode) }, { "debug_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DEBUG }, PG_SYSTEM_CONFIG, offsetof(systemConfig_t, debug_mode) },
#ifdef VTX
{ "vtx_band", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 1, 5 }, PG_VTX_CONFIG, offsetof(vtxConfig_t, vtx_band) },
{ "vtx_channel", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 1, 8 }, PG_VTX_CONFIG, offsetof(vtxConfig_t, vtx_channel) },
{ "vtx_mode", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 2 }, PG_VTX_CONFIG, offsetof(vtxConfig_t, vtx_mode) },
{ "vtx_mhz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 5600, 5950 }, PG_VTX_CONFIG, offsetof(vtxConfig_t, vtx_mhz) },
#endif
#if defined(USE_RTC6705)
{ "vtx_channel", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 39 }, PG_VTX_CONFIG, offsetof(vtxConfig_t, vtx_channel) },
{ "vtx_power", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 1 }, PG_VTX_CONFIG, offsetof(vtxConfig_t, vtx_power) },
#endif
#ifdef USE_MAX7456
{ "vcd_video_system", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 2 }, PG_VCD_CONFIG, offsetof(vcdProfile_t, video_system) },
{ "vcd_h_offset", VAR_INT8 | MASTER_VALUE, .config.minmax = { -32, 31 }, PG_VCD_CONFIG, offsetof(vcdProfile_t, h_offset) },
{ "vcd_v_offset", VAR_INT8 | MASTER_VALUE, .config.minmax = { -15, 16 }, PG_VCD_CONFIG, offsetof(vcdProfile_t, v_offset) },
#endif
#ifdef USE_MSP_DISPLAYPORT
{ "displayport_msp_col_adjust", VAR_INT8 | MASTER_VALUE, .config.minmax = { -6, 0 }, PG_DISPLAY_PORT_MSP_CONFIG, offsetof(displayPortProfile_t, colAdjust) },
{ "displayport_msp_row_adjust", VAR_INT8 | MASTER_VALUE, .config.minmax = { -3, 0 }, PG_DISPLAY_PORT_MSP_CONFIG, offsetof(displayPortProfile_t, rowAdjust) },
#endif
#ifdef USE_MAX7456
{ "displayport_max7456_col_adjust", VAR_INT8| MASTER_VALUE, .config.minmax = { -6, 0 }, PG_DISPLAY_PORT_MAX7456_CONFIG, offsetof(displayPortProfile_t, colAdjust) },
{ "displayport_max7456_row_adjust", VAR_INT8| MASTER_VALUE, .config.minmax = { -3, 0 }, PG_DISPLAY_PORT_MAX7456_CONFIG, offsetof(displayPortProfile_t, rowAdjust) },
#endif
}; };
#else #else
@ -957,7 +1029,7 @@ static const clivalue_t valueTable[] = {
{ "servo_lowpass_hz", VAR_UINT16 | MASTER_VALUE, &servoConfig()->servo_lowpass_freq, .config.minmax = { 0, 400} }, { "servo_lowpass_hz", VAR_UINT16 | MASTER_VALUE, &servoConfig()->servo_lowpass_freq, .config.minmax = { 0, 400} },
{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, &servoConfig()->dev.servoPwmRate, .config.minmax = { 50, 498 } }, { "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, &servoConfig()->dev.servoPwmRate, .config.minmax = { 50, 498 } },
{ "gimbal_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gimbalConfig()->mode, .config.lookup = { TABLE_GIMBAL_MODE } }, { "gimbal_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gimbalConfig()->mode, .config.lookup = { TABLE_GIMBAL_MODE } },
{ "channel_forwarding_start", VAR_UINT8 | MASTER_VALUE, &servoConfig()->channelForwardingStartChannel, .config.minmax = { AUX1, MAX_SUPPORTED_RC_CHANNEL_COUNT } }, { "channel_forwarding_start", VAR_UINT8 | MASTER_VALUE, &servoConfig()->channelForwardingStartChannel, .config.minmax = { AUX1, MAX_SUPPORTED_RC_CHANNEL_COUNT } },
#endif #endif
{ "rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.controlRateProfile[0].rcRate8, .config.minmax = { 0, 255 } }, { "rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.controlRateProfile[0].rcRate8, .config.minmax = { 0, 255 } },
@ -1710,7 +1782,6 @@ typedef union {
float float_value; float float_value;
} int_float_value_t; } int_float_value_t;
static void cliSetVar(const clivalue_t *var, const int_float_value_t value) static void cliSetVar(const clivalue_t *var, const int_float_value_t value)
{ {
void *ptr = getValuePointer(var); void *ptr = getValuePointer(var);

4
src/main/fc/config.c
View File

@ -133,8 +133,8 @@ PG_REGISTER_WITH_RESET_FN(ppmConfig_t, ppmConfig, PG_PPM_CONFIG, 0);
PG_REGISTER_WITH_RESET_FN(statusLedConfig_t, statusLedConfig, PG_STATUS_LED_CONFIG, 0); PG_REGISTER_WITH_RESET_FN(statusLedConfig_t, statusLedConfig, PG_STATUS_LED_CONFIG, 0);
PG_REGISTER_WITH_RESET_FN(serialPinConfig_t, serialPinConfig, PG_SERIAL_PIN_CONFIG, 0); PG_REGISTER_WITH_RESET_FN(serialPinConfig_t, serialPinConfig, PG_SERIAL_PIN_CONFIG, 0);
PG_REGISTER_WITH_RESET_TEMPLATE(flashConfig_t, flashConfig, PG_FLASH_CONFIG, 0);
#ifdef USE_FLASHFS #ifdef USE_FLASHFS
PG_REGISTER_WITH_RESET_TEMPLATE(flashConfig_t, flashConfig, PG_FLASH_CONFIG, 0);
#ifdef M25P16_CS_PIN #ifdef M25P16_CS_PIN
#define FLASH_CONFIG_CSTAG IO_TAG(M25P16_CS_PIN) #define FLASH_CONFIG_CSTAG IO_TAG(M25P16_CS_PIN)
#else #else
@ -1106,12 +1106,14 @@ void createDefaultConfig(master_t *config)
config->customMotorMixer[i].throttle = 0.0f; config->customMotorMixer[i].throttle = 0.0f;
} }
#ifndef USE_PARAMETER_GROUPS
#ifdef VTX #ifdef VTX
config->vtxConfig.vtx_band = 4; //Fatshark/Airwaves config->vtxConfig.vtx_band = 4; //Fatshark/Airwaves
config->vtxConfig.vtx_channel = 1; //CH1 config->vtxConfig.vtx_channel = 1; //CH1
config->vtxConfig.vtx_mode = 0; //CH+BAND mode config->vtxConfig.vtx_mode = 0; //CH+BAND mode
config->vtxConfig.vtx_mhz = 5740; //F0 config->vtxConfig.vtx_mhz = 5740; //F0
#endif #endif
#endif
#ifdef TRANSPONDER #ifdef TRANSPONDER
static const uint8_t defaultTransponderData[6] = { 0x12, 0x34, 0x56, 0x78, 0x9A, 0xBC }; // Note, this is NOT a valid transponder code, it's just for testing production hardware static const uint8_t defaultTransponderData[6] = { 0x12, 0x34, 0x56, 0x78, 0x9A, 0xBC }; // Note, this is NOT a valid transponder code, it's just for testing production hardware

2
src/main/fc/fc_msp.c
View File

@ -1663,7 +1663,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
uint16_t tmp = sbufReadU16(src); uint16_t tmp = sbufReadU16(src);
#if defined(USE_RTC6705) #if defined(USE_RTC6705)
if (tmp < 40) if (tmp < 40)
vtxConfig()->vtx_channel = tmp; vtxConfigMutable()->vtx_channel = tmp;
if (current_vtx_channel != vtxConfig()->vtx_channel) { if (current_vtx_channel != vtxConfig()->vtx_channel) {
current_vtx_channel = vtxConfig()->vtx_channel; current_vtx_channel = vtxConfig()->vtx_channel;
rtc6705_soft_spi_set_channel(vtx_freq[current_vtx_channel]); rtc6705_soft_spi_set_channel(vtx_freq[current_vtx_channel]);

16
src/main/io/vtx.c
View File

@ -21,11 +21,6 @@
#ifdef VTX #ifdef VTX
// Own interfaces
#include "io/vtx.h"
#include "io/osd.h"
//External dependencies
#include "common/maths.h" #include "common/maths.h"
#include "config/config_eeprom.h" #include "config/config_eeprom.h"
@ -37,8 +32,19 @@
#include "fc/runtime_config.h" #include "fc/runtime_config.h"
#include "io/beeper.h" #include "io/beeper.h"
#include "io/osd.h"
#include "io/vtx.h"
PG_REGISTER_WITH_RESET_TEMPLATE(vtxConfig_t, vtxConfig, PG_VTX_CONFIG, 0);
PG_RESET_TEMPLATE(vtxConfig_t, vtxConfig,
.vtx_band = 4, //Fatshark/Airwaves
.vtx_channel = 1, //CH1
.vtx_mode = 0, //CH+BAND mode
.vtx_mhz = 5740 //F0
);
static uint8_t locked = 0; static uint8_t locked = 0;
void vtxInit(void) void vtxInit(void)

2
src/main/io/vtx.h
View File

@ -41,6 +41,8 @@ typedef struct vtxConfig_s {
vtxChannelActivationCondition_t vtxChannelActivationConditions[MAX_CHANNEL_ACTIVATION_CONDITION_COUNT]; vtxChannelActivationCondition_t vtxChannelActivationConditions[MAX_CHANNEL_ACTIVATION_CONDITION_COUNT];
} vtxConfig_t; } vtxConfig_t;
PG_DECLARE(vtxConfig_t, vtxConfig);
void vtxInit(void); void vtxInit(void);
void vtxIncrementBand(void); void vtxIncrementBand(void);
void vtxDecrementBand(void); void vtxDecrementBand(void);

180
src/main/target/COLIBRI_RACE/i2c_bst.c
View File

@ -622,14 +622,14 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
break; break;
case BST_SERVO_CONFIGURATIONS: case BST_SERVO_CONFIGURATIONS:
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) { for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
bstWrite16(servoProfile()->servoConf[i].min); bstWrite16(servoParams(i)->min);
bstWrite16(servoProfile()->servoConf[i].max); bstWrite16(servoParams(i)->max);
bstWrite16(servoProfile()->servoConf[i].middle); bstWrite16(servoParams(i)->middle);
bstWrite8(servoProfile()->servoConf[i].rate); bstWrite8(servoParams(i)->rate);
bstWrite8(servoProfile()->servoConf[i].angleAtMin); bstWrite8(servoParams(i)->angleAtMin);
bstWrite8(servoProfile()->servoConf[i].angleAtMax); bstWrite8(servoParams(i)->angleAtMax);
bstWrite8(servoProfile()->servoConf[i].forwardFromChannel); bstWrite8(servoParams(i)->forwardFromChannel);
bstWrite32(servoProfile()->servoConf[i].reversedSources); bstWrite32(servoParams(i)->reversedSources);
} }
break; break;
case BST_SERVO_MIX_RULES: case BST_SERVO_MIX_RULES:
@ -716,7 +716,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
break; break;
case BST_MODE_RANGES: case BST_MODE_RANGES:
for (i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) { for (i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
modeActivationCondition_t *mac = &modeActivationProfile()->modeActivationConditions[i]; const modeActivationCondition_t *mac = modeActivationConditions(i);
const box_t *box = &boxes[mac->modeId]; const box_t *box = &boxes[mac->modeId];
bstWrite8(box->permanentId); bstWrite8(box->permanentId);
bstWrite8(mac->auxChannelIndex); bstWrite8(mac->auxChannelIndex);
@ -726,7 +726,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
break; break;
case BST_ADJUSTMENT_RANGES: case BST_ADJUSTMENT_RANGES:
for (i = 0; i < MAX_ADJUSTMENT_RANGE_COUNT; i++) { for (i = 0; i < MAX_ADJUSTMENT_RANGE_COUNT; i++) {
adjustmentRange_t *adjRange = &adjustmentProfile()->adjustmentRanges[i]; const adjustmentRange_t *adjRange = adjustmentRanges(i);
bstWrite8(adjRange->adjustmentIndex); bstWrite8(adjRange->adjustmentIndex);
bstWrite8(adjRange->auxChannelIndex); bstWrite8(adjRange->auxChannelIndex);
bstWrite8(adjRange->range.startStep); bstWrite8(adjRange->range.startStep);
@ -935,7 +935,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
#ifdef LED_STRIP #ifdef LED_STRIP
case BST_LED_COLORS: case BST_LED_COLORS:
for (i = 0; i < LED_CONFIGURABLE_COLOR_COUNT; i++) { for (i = 0; i < LED_CONFIGURABLE_COLOR_COUNT; i++) {
hsvColor_t *color = &ledStripConfig()->colors[i]; hsvColor_t *color = &ledStripConfigMutable()->colors[i];
bstWrite16(color->h); bstWrite16(color->h);
bstWrite8(color->s); bstWrite8(color->s);
bstWrite8(color->v); bstWrite8(color->v);
@ -944,7 +944,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
case BST_LED_STRIP_CONFIG: case BST_LED_STRIP_CONFIG:
for (i = 0; i < LED_MAX_STRIP_LENGTH; i++) { for (i = 0; i < LED_MAX_STRIP_LENGTH; i++) {
ledConfig_t *ledConfig = &ledStripConfig()->ledConfigs[i]; const ledConfig_t *ledConfig = &ledStripConfig()->ledConfigs[i];
bstWrite32(*ledConfig); bstWrite32(*ledConfig);
} }
break; break;
@ -1024,12 +1024,12 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
} }
} }
case BST_SET_ACC_TRIM: case BST_SET_ACC_TRIM:
accelerometerConfig()->accelerometerTrims.values.pitch = bstRead16(); accelerometerConfigMutable()->accelerometerTrims.values.pitch = bstRead16();
accelerometerConfig()->accelerometerTrims.values.roll = bstRead16(); accelerometerConfigMutable()->accelerometerTrims.values.roll = bstRead16();
break; break;
case BST_SET_ARMING_CONFIG: case BST_SET_ARMING_CONFIG:
armingConfig()->auto_disarm_delay = bstRead8(); armingConfigMutable()->auto_disarm_delay = bstRead8();
armingConfig()->disarm_kill_switch = bstRead8(); armingConfigMutable()->disarm_kill_switch = bstRead8();
break; break;
case BST_SET_LOOP_TIME: case BST_SET_LOOP_TIME:
//masterConfig.looptime = bstRead16(); //masterConfig.looptime = bstRead16();
@ -1047,7 +1047,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
case BST_SET_MODE_RANGE: case BST_SET_MODE_RANGE:
i = bstRead8(); i = bstRead8();
if (i < MAX_MODE_ACTIVATION_CONDITION_COUNT) { if (i < MAX_MODE_ACTIVATION_CONDITION_COUNT) {
modeActivationCondition_t *mac = &modeActivationProfile()->modeActivationConditions[i]; modeActivationCondition_t *mac = modeActivationConditionsMutable(i);
i = bstRead8(); i = bstRead8();
const box_t *box = findBoxByPermenantId(i); const box_t *box = findBoxByPermenantId(i);
if (box) { if (box) {
@ -1056,7 +1056,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
mac->range.startStep = bstRead8(); mac->range.startStep = bstRead8();
mac->range.endStep = bstRead8(); mac->range.endStep = bstRead8();
useRcControlsConfig(modeActivationProfile()->modeActivationConditions, currentPidProfile); useRcControlsConfig(modeActivationConditions(0), currentPidProfile);
} else { } else {
ret = BST_FAILED; ret = BST_FAILED;
} }
@ -1067,7 +1067,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
case BST_SET_ADJUSTMENT_RANGE: case BST_SET_ADJUSTMENT_RANGE:
i = bstRead8(); i = bstRead8();
if (i < MAX_ADJUSTMENT_RANGE_COUNT) { if (i < MAX_ADJUSTMENT_RANGE_COUNT) {
adjustmentRange_t *adjRange = &adjustmentProfile()->adjustmentRanges[i]; adjustmentRange_t *adjRange = adjustmentRangesMutable(i);
i = bstRead8(); i = bstRead8();
if (i < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT) { if (i < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT) {
adjRange->adjustmentIndex = i; adjRange->adjustmentIndex = i;
@ -1109,33 +1109,33 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
case BST_SET_MISC: case BST_SET_MISC:
tmp = bstRead16(); tmp = bstRead16();
if (tmp < 1600 && tmp > 1400) if (tmp < 1600 && tmp > 1400)
rxConfig()->midrc = tmp; rxConfigMutable()->midrc = tmp;
motorConfig()->minthrottle = bstRead16(); motorConfigMutable()->minthrottle = bstRead16();
motorConfig()->maxthrottle = bstRead16(); motorConfigMutable()->maxthrottle = bstRead16();
motorConfig()->mincommand = bstRead16(); motorConfigMutable()->mincommand = bstRead16();
failsafeConfig()->failsafe_throttle = bstRead16(); failsafeConfigMutable()->failsafe_throttle = bstRead16();
#ifdef GPS #ifdef GPS
gpsConfig()->provider = bstRead8(); // gps_type gpsConfigMutable()->provider = bstRead8(); // gps_type
bstRead8(); // gps_baudrate bstRead8(); // gps_baudrate
gpsConfig()->sbasMode = bstRead8(); // gps_ubx_sbas gpsConfigMutable()->sbasMode = bstRead8(); // gps_ubx_sbas
#else #else
bstRead8(); // gps_type bstRead8(); // gps_type
bstRead8(); // gps_baudrate bstRead8(); // gps_baudrate
bstRead8(); // gps_ubx_sbas bstRead8(); // gps_ubx_sbas
#endif #endif
batteryConfig()->multiwiiCurrentMeterOutput = bstRead8(); batteryConfigMutable()->multiwiiCurrentMeterOutput = bstRead8();
rxConfig()->rssi_channel = bstRead8(); rxConfigMutable()->rssi_channel = bstRead8();
bstRead8(); bstRead8();
compassConfig()->mag_declination = bstRead16() * 10; compassConfigMutable()->mag_declination = bstRead16() * 10;
batteryConfig()->vbatscale = bstRead8(); // actual vbatscale as intended batteryConfigMutable()->vbatscale = bstRead8(); // actual vbatscale as intended
batteryConfig()->vbatmincellvoltage = bstRead8(); // vbatlevel_warn1 in MWC2.3 GUI batteryConfigMutable()->vbatmincellvoltage = bstRead8(); // vbatlevel_warn1 in MWC2.3 GUI
batteryConfig()->vbatmaxcellvoltage = bstRead8(); // vbatlevel_warn2 in MWC2.3 GUI batteryConfigMutable()->vbatmaxcellvoltage = bstRead8(); // vbatlevel_warn2 in MWC2.3 GUI
batteryConfig()->vbatwarningcellvoltage = bstRead8(); // vbatlevel when buzzer starts to alert batteryConfigMutable()->vbatwarningcellvoltage = bstRead8(); // vbatlevel when buzzer starts to alert
break; break;
case BST_SET_MOTOR: case BST_SET_MOTOR:
for (i = 0; i < 8; i++) // FIXME should this use MAX_MOTORS or MAX_SUPPORTED_MOTORS instead of 8 for (i = 0; i < 8; i++) // FIXME should this use MAX_MOTORS or MAX_SUPPORTED_MOTORS instead of 8
@ -1151,14 +1151,14 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
if (i >= MAX_SUPPORTED_SERVOS) { if (i >= MAX_SUPPORTED_SERVOS) {
ret = BST_FAILED; ret = BST_FAILED;
} else { } else {
servoProfile()->servoConf[i].min = bstRead16(); servoParamsMutable(i)->min = bstRead16();
servoProfile()->servoConf[i].max = bstRead16(); servoParamsMutable(i)->max = bstRead16();
servoProfile()->servoConf[i].middle = bstRead16(); servoParamsMutable(i)->middle = bstRead16();
servoProfile()->servoConf[i].rate = bstRead8(); servoParamsMutable(i)->rate = bstRead8();
servoProfile()->servoConf[i].angleAtMin = bstRead8(); servoParamsMutable(i)->angleAtMin = bstRead8();
servoProfile()->servoConf[i].angleAtMax = bstRead8(); servoParamsMutable(i)->angleAtMax = bstRead8();
servoProfile()->servoConf[i].forwardFromChannel = bstRead8(); servoParamsMutable(i)->forwardFromChannel = bstRead8();
servoProfile()->servoConf[i].reversedSources = bstRead32(); servoParamsMutable(i)->reversedSources = bstRead32();
} }
#endif #endif
break; break;
@ -1168,13 +1168,13 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
if (i >= MAX_SERVO_RULES) { if (i >= MAX_SERVO_RULES) {
ret = BST_FAILED; ret = BST_FAILED;
} else { } else {
customServoMixers(i)->targetChannel = bstRead8(); customServoMixersMutable(i)->targetChannel = bstRead8();
customServoMixers(i)->inputSource = bstRead8(); customServoMixersMutable(i)->inputSource = bstRead8();
customServoMixers(i)->rate = bstRead8(); customServoMixersMutable(i)->rate = bstRead8();
customServoMixers(i)->speed = bstRead8(); customServoMixersMutable(i)->speed = bstRead8();
customServoMixers(i)->min = bstRead8(); customServoMixersMutable(i)->min = bstRead8();
customServoMixers(i)->max = bstRead8(); customServoMixersMutable(i)->max = bstRead8();
customServoMixers(i)->box = bstRead8(); customServoMixersMutable(i)->box = bstRead8();
loadCustomServoMixer(); loadCustomServoMixer();
} }
#endif #endif
@ -1252,51 +1252,51 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
featureSet(bstRead32()); // features bitmap featureSet(bstRead32()); // features bitmap
#ifdef SERIALRX_UART #ifdef SERIALRX_UART
if (featureConfigured(FEATURE_RX_SERIAL)) { if (featureConfigured(FEATURE_RX_SERIAL)) {
serialConfig()->portConfigs[SERIALRX_UART].functionMask = FUNCTION_RX_SERIAL; serialConfigMutable()->portConfigs[SERIALRX_UART].functionMask = FUNCTION_RX_SERIAL;
} else { } else {
serialConfig()->portConfigs[SERIALRX_UART].functionMask = FUNCTION_NONE; serialConfigMutable()->portConfigs[SERIALRX_UART].functionMask = FUNCTION_NONE;
} }
#endif #endif
break; break;
case BST_SET_BOARD_ALIGNMENT: case BST_SET_BOARD_ALIGNMENT:
boardAlignment()->rollDegrees = bstRead16(); boardAlignmentMutable()->rollDegrees = bstRead16();
boardAlignment()->pitchDegrees = bstRead16(); boardAlignmentMutable()->pitchDegrees = bstRead16();
boardAlignment()->yawDegrees = bstRead16(); boardAlignmentMutable()->yawDegrees = bstRead16();
break; break;
case BST_SET_VOLTAGE_METER_CONFIG: case BST_SET_VOLTAGE_METER_CONFIG:
batteryConfig()->vbatscale = bstRead8(); // actual vbatscale as intended batteryConfigMutable()->vbatscale = bstRead8(); // actual vbatscale as intended
batteryConfig()->vbatmincellvoltage = bstRead8(); // vbatlevel_warn1 in MWC2.3 GUI batteryConfigMutable()->vbatmincellvoltage = bstRead8(); // vbatlevel_warn1 in MWC2.3 GUI
batteryConfig()->vbatmaxcellvoltage = bstRead8(); // vbatlevel_warn2 in MWC2.3 GUI batteryConfigMutable()->vbatmaxcellvoltage = bstRead8(); // vbatlevel_warn2 in MWC2.3 GUI
batteryConfig()->vbatwarningcellvoltage = bstRead8(); // vbatlevel when buzzer starts to alert batteryConfigMutable()->vbatwarningcellvoltage = bstRead8(); // vbatlevel when buzzer starts to alert
break; break;
case BST_SET_CURRENT_METER_CONFIG: case BST_SET_CURRENT_METER_CONFIG:
batteryConfig()->currentMeterScale = bstRead16(); batteryConfigMutable()->currentMeterScale = bstRead16();
batteryConfig()->currentMeterOffset = bstRead16(); batteryConfigMutable()->currentMeterOffset = bstRead16();
batteryConfig()->currentMeterType = bstRead8(); batteryConfigMutable()->currentMeterType = bstRead8();
batteryConfig()->batteryCapacity = bstRead16(); batteryConfigMutable()->batteryCapacity = bstRead16();
break; break;
#ifndef USE_QUAD_MIXER_ONLY #ifndef USE_QUAD_MIXER_ONLY
case BST_SET_MIXER: case BST_SET_MIXER:
mixerConfig()->mixerMode = bstRead8(); mixerConfigMutable()->mixerMode = bstRead8();
break; break;
#endif #endif
case BST_SET_RX_CONFIG: case BST_SET_RX_CONFIG:
rxConfig()->serialrx_provider = bstRead8(); rxConfigMutable()->serialrx_provider = bstRead8();
rxConfig()->maxcheck = bstRead16(); rxConfigMutable()->maxcheck = bstRead16();
rxConfig()->midrc = bstRead16(); rxConfigMutable()->midrc = bstRead16();
rxConfig()->mincheck = bstRead16(); rxConfigMutable()->mincheck = bstRead16();
rxConfig()->spektrum_sat_bind = bstRead8(); rxConfigMutable()->spektrum_sat_bind = bstRead8();
if (bstReadDataSize() > 8) { if (bstReadDataSize() > 8) {
rxConfig()->rx_min_usec = bstRead16(); rxConfigMutable()->rx_min_usec = bstRead16();
rxConfig()->rx_max_usec = bstRead16(); rxConfigMutable()->rx_max_usec = bstRead16();
} }
break; break;
case BST_SET_FAILSAFE_CONFIG: case BST_SET_FAILSAFE_CONFIG:
failsafeConfig()->failsafe_delay = bstRead8(); failsafeConfigMutable()->failsafe_delay = bstRead8();
failsafeConfig()->failsafe_off_delay = bstRead8(); failsafeConfigMutable()->failsafe_off_delay = bstRead8();
failsafeConfig()->failsafe_throttle = bstRead16(); failsafeConfigMutable()->failsafe_throttle = bstRead16();
break; break;
case BST_SET_RXFAIL_CONFIG: case BST_SET_RXFAIL_CONFIG:
{ {
@ -1305,18 +1305,18 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
ret = BST_FAILED; ret = BST_FAILED;
} else { } else {
for (i = NON_AUX_CHANNEL_COUNT; i < channelCount; i++) { for (i = NON_AUX_CHANNEL_COUNT; i < channelCount; i++) {
rxConfig()->failsafe_channel_configurations[i].mode = bstRead8(); rxConfigMutable()->failsafe_channel_configurations[i].mode = bstRead8();
rxConfig()->failsafe_channel_configurations[i].step = CHANNEL_VALUE_TO_RXFAIL_STEP(bstRead16()); rxConfigMutable()->failsafe_channel_configurations[i].step = CHANNEL_VALUE_TO_RXFAIL_STEP(bstRead16());
} }
} }
} }
break; break;
case BST_SET_RSSI_CONFIG: case BST_SET_RSSI_CONFIG:
rxConfig()->rssi_channel = bstRead8(); rxConfigMutable()->rssi_channel = bstRead8();
break; break;
case BST_SET_RX_MAP: case BST_SET_RX_MAP:
for (i = 0; i < MAX_MAPPABLE_RX_INPUTS; i++) { for (i = 0; i < MAX_MAPPABLE_RX_INPUTS; i++) {
rxConfig()->rcmap[i] = bstRead8(); rxConfigMutable()->rcmap[i] = bstRead8();
} }
break; break;
case BST_SET_BF_CONFIG: case BST_SET_BF_CONFIG:
@ -1324,20 +1324,20 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
#ifdef USE_QUAD_MIXER_ONLY #ifdef USE_QUAD_MIXER_ONLY
bstRead8(); // mixerMode ignored bstRead8(); // mixerMode ignored
#else #else
mixerConfig()->mixerMode = bstRead8(); // mixerMode mixerConfigMutable()->mixerMode = bstRead8(); // mixerMode
#endif #endif
featureClearAll(); featureClearAll();
featureSet(bstRead32()); // features bitmap featureSet(bstRead32()); // features bitmap
rxConfig()->serialrx_provider = bstRead8(); // serialrx_type rxConfigMutable()->serialrx_provider = bstRead8(); // serialrx_type
boardAlignment()->rollDegrees = bstRead16(); // board_align_roll boardAlignmentMutable()->rollDegrees = bstRead16(); // board_align_roll
boardAlignment()->pitchDegrees = bstRead16(); // board_align_pitch boardAlignmentMutable()->pitchDegrees = bstRead16(); // board_align_pitch
boardAlignment()->yawDegrees = bstRead16(); // board_align_yaw boardAlignmentMutable()->yawDegrees = bstRead16(); // board_align_yaw
batteryConfig()->currentMeterScale = bstRead16(); batteryConfigMutable()->currentMeterScale = bstRead16();
batteryConfig()->currentMeterOffset = bstRead16(); batteryConfigMutable()->currentMeterOffset = bstRead16();
break; break;
case BST_SET_CF_SERIAL_CONFIG: case BST_SET_CF_SERIAL_CONFIG:
{ {
@ -1372,7 +1372,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
//for (i = 0; i < CONFIGURABLE_COLOR_COUNT; i++) { //for (i = 0; i < CONFIGURABLE_COLOR_COUNT; i++) {
{ {
i = bstRead8(); i = bstRead8();
hsvColor_t *color = &ledStripConfig()->colors[i]; hsvColor_t *color = &ledStripConfigMutable()->colors[i];
color->h = bstRead16(); color->h = bstRead16();
color->s = bstRead8(); color->s = bstRead8();
color->v = bstRead8(); color->v = bstRead8();
@ -1385,7 +1385,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
ret = BST_FAILED; ret = BST_FAILED;
break; break;
} }
ledConfig_t *ledConfig = &ledStripConfig()->ledConfigs[i]; ledConfig_t *ledConfig = &ledStripConfigMutable()->ledConfigs[i];
*ledConfig = bstRead32(); *ledConfig = bstRead32();
reevaluateLedConfig(); reevaluateLedConfig();
} }
@ -1403,13 +1403,13 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
DISABLE_ARMING_FLAG(PREVENT_ARMING); DISABLE_ARMING_FLAG(PREVENT_ARMING);
break; break;
case BST_SET_DEADBAND: case BST_SET_DEADBAND:
rcControlsConfig()->alt_hold_deadband = bstRead8(); rcControlsConfigMutable()->alt_hold_deadband = bstRead8();
rcControlsConfig()->alt_hold_fast_change = bstRead8(); rcControlsConfigMutable()->alt_hold_fast_change = bstRead8();
rcControlsConfig()->deadband = bstRead8(); rcControlsConfigMutable()->deadband = bstRead8();
rcControlsConfig()->yaw_deadband = bstRead8(); rcControlsConfigMutable()->yaw_deadband = bstRead8();
break; break;
case BST_SET_FC_FILTERS: case BST_SET_FC_FILTERS:
gyroConfig()->gyro_lpf = bstRead16(); gyroConfigMutable()->gyro_lpf = bstRead16();
break; break;
default: default: