rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #2737 from betaflight/remove-msp-cruft 

CF/BF - Remove more MSP cruft
This commit is contained in:
Michael Keller 2017-04-21 12:24:57 +12:00 committed by GitHub
parent 7a453bf4d1 6b82b803cc
commit 63552348c0
5 changed files with 10 additions and 27 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

27
src/main/fc/cli.c
View File

@ -2351,7 +2351,7 @@ static void cliModeColor(char *cmdline)
static void printServo(uint8_t dumpMask, const servoParam_t *servoParams, const servoParam_t *defaultServoParams) static void printServo(uint8_t dumpMask, const servoParam_t *servoParams, const servoParam_t *defaultServoParams)
{ {
// print out servo settings // print out servo settings
const char *format = "servo %u %d %d %d %d %d %d %d\r\n"; const char *format = "servo %u %d %d %d %d %d\r\n";
for (uint32_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) { for (uint32_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
const servoParam_t *servoConf = &servoParams[i]; const servoParam_t *servoConf = &servoParams[i];
bool equalsDefault = false; bool equalsDefault = false;
@ -2360,7 +2360,6 @@ static void printServo(uint8_t dumpMask, const servoParam_t *servoParams, const
equalsDefault = servoConf->min == defaultServoConf->min equalsDefault = servoConf->min == defaultServoConf->min
&& servoConf->max == defaultServoConf->max && servoConf->max == defaultServoConf->max
&& servoConf->middle == defaultServoConf->middle && servoConf->middle == defaultServoConf->middle
&& servoConf->angleAtMin == defaultServoConf->angleAtMax
&& servoConf->rate == defaultServoConf->rate && servoConf->rate == defaultServoConf->rate
&& servoConf->forwardFromChannel == defaultServoConf->forwardFromChannel; && servoConf->forwardFromChannel == defaultServoConf->forwardFromChannel;
cliDefaultPrintf(dumpMask, equalsDefault, format, cliDefaultPrintf(dumpMask, equalsDefault, format,
@ -2368,8 +2367,6 @@ static void printServo(uint8_t dumpMask, const servoParam_t *servoParams, const
defaultServoConf->min, defaultServoConf->min,
defaultServoConf->max, defaultServoConf->max,
defaultServoConf->middle, defaultServoConf->middle,
defaultServoConf->angleAtMin,
defaultServoConf->angleAtMax,
defaultServoConf->rate, defaultServoConf->rate,
defaultServoConf->forwardFromChannel defaultServoConf->forwardFromChannel
); );
@ -2379,8 +2376,6 @@ static void printServo(uint8_t dumpMask, const servoParam_t *servoParams, const
servoConf->min, servoConf->min,
servoConf->max, servoConf->max,
servoConf->middle, servoConf->middle,
servoConf->angleAtMin,
servoConf->angleAtMax,
servoConf->rate, servoConf->rate,
servoConf->forwardFromChannel servoConf->forwardFromChannel
); );
@ -2413,7 +2408,7 @@ static void printServo(uint8_t dumpMask, const servoParam_t *servoParams, const
static void cliServo(char *cmdline) static void cliServo(char *cmdline)
{ {
enum { SERVO_ARGUMENT_COUNT = 8 }; enum { SERVO_ARGUMENT_COUNT = 6 };
int16_t arguments[SERVO_ARGUMENT_COUNT]; int16_t arguments[SERVO_ARGUMENT_COUNT];
servoParam_t *servo; servoParam_t *servo;
@ -2451,7 +2446,7 @@ static void cliServo(char *cmdline)
} }
} }
enum {INDEX = 0, MIN, MAX, MIDDLE, ANGLE_AT_MIN, ANGLE_AT_MAX, RATE, FORWARD}; enum {INDEX = 0, MIN, MAX, MIDDLE, RATE, FORWARD};
i = arguments[INDEX]; i = arguments[INDEX];
@ -2469,21 +2464,17 @@ static void cliServo(char *cmdline)
arguments[MIDDLE] < arguments[MIN] || arguments[MIDDLE] > arguments[MAX] || arguments[MIDDLE] < arguments[MIN] || arguments[MIDDLE] > arguments[MAX] ||
arguments[MIN] > arguments[MAX] || arguments[MAX] < arguments[MIN] || arguments[MIN] > arguments[MAX] || arguments[MAX] < arguments[MIN] ||
arguments[RATE] < -100 || arguments[RATE] > 100 || arguments[RATE] < -100 || arguments[RATE] > 100 ||
arguments[FORWARD] >= MAX_SUPPORTED_RC_CHANNEL_COUNT || arguments[FORWARD] >= MAX_SUPPORTED_RC_CHANNEL_COUNT
arguments[ANGLE_AT_MIN] < 0 || arguments[ANGLE_AT_MIN] > 180 ||
arguments[ANGLE_AT_MAX] < 0 || arguments[ANGLE_AT_MAX] > 180
) { ) {
cliShowParseError(); cliShowParseError();
return; return;
} }
servo->min = arguments[1]; servo->min = arguments[MIN];
servo->max = arguments[2]; servo->max = arguments[MAX];
servo->middle = arguments[3]; servo->middle = arguments[MIDDLE];
servo->angleAtMin = arguments[4]; servo->rate = arguments[RATE];
servo->angleAtMax = arguments[5]; servo->forwardFromChannel = arguments[FORWARD];
servo->rate = arguments[6];
servo->forwardFromChannel = arguments[7];
} }
} }
#endif #endif

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

@ -1548,7 +1548,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_SERVO_CONFIGURATION: case MSP_SET_SERVO_CONFIGURATION:
#ifdef USE_SERVOS #ifdef USE_SERVOS
if (dataSize != 1 + sizeof(servoParam_t)) { if (dataSize != 1 + 14) {
return MSP_RESULT_ERROR; return MSP_RESULT_ERROR;
} }
i = sbufReadU8(src); i = sbufReadU8(src);
@ -1559,8 +1559,6 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
servoParamsMutable(i)->max = sbufReadU16(src); servoParamsMutable(i)->max = sbufReadU16(src);
servoParamsMutable(i)->middle = sbufReadU16(src); servoParamsMutable(i)->middle = sbufReadU16(src);
servoParamsMutable(i)->rate = sbufReadU8(src); servoParamsMutable(i)->rate = sbufReadU8(src);
servoParamsMutable(i)->angleAtMin = sbufReadU8(src);
servoParamsMutable(i)->angleAtMax = sbufReadU8(src);
servoParamsMutable(i)->forwardFromChannel = sbufReadU8(src); servoParamsMutable(i)->forwardFromChannel = sbufReadU8(src);
servoParamsMutable(i)->reversedSources = sbufReadU32(src); servoParamsMutable(i)->reversedSources = sbufReadU32(src);
} }

2
src/main/flight/servos.c
View File

@ -84,8 +84,6 @@ void pgResetFn_servoParams(servoParam_t *instance)
.max = DEFAULT_SERVO_MAX, .max = DEFAULT_SERVO_MAX,
.middle = DEFAULT_SERVO_MIDDLE, .middle = DEFAULT_SERVO_MIDDLE,
.rate = 100, .rate = 100,
.angleAtMin = DEFAULT_SERVO_MIN_ANGLE,
.angleAtMax = DEFAULT_SERVO_MAX_ANGLE,
.forwardFromChannel = CHANNEL_FORWARDING_DISABLED .forwardFromChannel = CHANNEL_FORWARDING_DISABLED
); );
} }

2
src/main/flight/servos.h
View File

@ -97,8 +97,6 @@ typedef struct servoParam_s {
int16_t max; // servo max int16_t max; // servo max
int16_t middle; // servo middle int16_t middle; // servo middle
int8_t rate; // range [-125;+125] ; can be used to adjust a rate 0-125% and a direction int8_t rate; // range [-125;+125] ; can be used to adjust a rate 0-125% and a direction
uint8_t angleAtMin; // range [0;180] the measured angle in degrees from the middle when the servo is at the 'min' value.
uint8_t angleAtMax; // range [0;180] the measured angle in degrees from the middle when the servo is at the 'max' value.
int8_t forwardFromChannel; // RX channel index, 0 based. See CHANNEL_FORWARDING_DISABLED int8_t forwardFromChannel; // RX channel index, 0 based. See CHANNEL_FORWARDING_DISABLED
} servoParam_t; } servoParam_t;

2
src/main/rx/rx.h
View File

@ -37,8 +37,6 @@
#define DEFAULT_SERVO_MIN 1000 #define DEFAULT_SERVO_MIN 1000
#define DEFAULT_SERVO_MIDDLE 1500 #define DEFAULT_SERVO_MIDDLE 1500
#define DEFAULT_SERVO_MAX 2000 #define DEFAULT_SERVO_MAX 2000
#define DEFAULT_SERVO_MIN_ANGLE 90
#define DEFAULT_SERVO_MAX_ANGLE 90
typedef enum { typedef enum {
RX_FRAME_PENDING = 0, RX_FRAME_PENDING = 0,