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Use 0 based index for motor and servo mix in CLI. Update 

MSP_SERVO_MIX_RULES, MSP_SET_SERVO_MIX_RULE, MSP_SERVO_CONFIGURATIONS,
MSP_SET_SERVO_CONFIGURATION.  Delete MSP_CHANNEL_FORWARDING,
MSP_SET_CHANNEL_FORWARDING.
This commit is contained in:
Dominic Clifton 2015-07-08 12:33:52 +01:00
parent bb0f909e83
commit 763c75873e
4 changed files with 47 additions and 70 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/main/flight/mixer.c
View File

@ -514,7 +514,7 @@ void servoMixerLoadMix(int index, servoMixer_t *customServoMixers)
index++;
// clear existing
for (i = 0; i < MAX_SERVO_RULES; i++)
customServoMixers[i].targetChannel = customServoMixers[i].fromChannel = customServoMixers[i].rate = customServoMixers[i].box = 0;
customServoMixers[i].targetChannel = customServoMixers[i].inputSource = customServoMixers[i].rate = customServoMixers[i].box = 0;
for (i = 0; i < servoMixers[index].servoRuleCount; i++)
customServoMixers[i] = servoMixers[index].rule[i];
@ -750,7 +750,7 @@ static void servoMixer(void)
// consider rule if no box assigned or box is active
if (currentServoMixer[i].box == 0 || IS_RC_MODE_ACTIVE(BOXSERVO1 + currentServoMixer[i].box - 1)) {
uint8_t target = currentServoMixer[i].targetChannel;
uint8_t from = currentServoMixer[i].fromChannel; // FIXME rename 'from' to inputSource
uint8_t from = currentServoMixer[i].inputSource;
uint16_t servo_width = servoConf[target].max - servoConf[target].min;
int16_t min = currentServoMixer[i].min * servo_width / 100 - servo_width / 2;
int16_t max = currentServoMixer[i].max * servo_width / 100 - servo_width / 2;

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

@ -116,10 +116,7 @@ enum {
typedef struct servoMixer_t {
uint8_t targetChannel; // servo that receives the output of the rule
// FIXME rename to inputSource
uint8_t fromChannel; // input channel for this rule
uint8_t inputSource; // input channel for this rule
int8_t rate; // range [-125;+125] ; can be used to adjust a rate 0-125% and a direction
uint8_t speed; // reduces the speed of the rule, 0=unlimited speed
int8_t min; // lower bound of rule range [0;100]% of servo max-min

38
src/main/io/serial_cli.c
View File

@ -786,7 +786,7 @@ static void cliMotorMix(char *cmdline)
if (masterConfig.customMotorMixer[i].throttle == 0.0f)
break;
num_motors++;
printf("#%d:\t", i + 1);
printf("#%d:\t", i);
printf("%s\t", ftoa(masterConfig.customMotorMixer[i].throttle, buf));
printf("%s\t", ftoa(masterConfig.customMotorMixer[i].roll, buf));
printf("%s\t", ftoa(masterConfig.customMotorMixer[i].pitch, buf));
@ -817,7 +817,7 @@ static void cliMotorMix(char *cmdline)
} else {
ptr = cmdline;
i = atoi(ptr); // get motor number
if (--i < MAX_SUPPORTED_MOTORS) {
if (i < MAX_SUPPORTED_MOTORS) {
ptr = strchr(ptr, ' ');
if (ptr) {
masterConfig.customMotorMixer[i].throttle = fastA2F(++ptr);
@ -1001,9 +1001,9 @@ static void cliServoMix(char *cmdline)
cliPrint("Rule\tServo\tSource\tRate\tSpeed\tMin\tMax\tBox\r\n");
printf("#%d:\t%d\t%d\t%d\t%d\t%d\t%d\t%d\r\n",
i + 1,
masterConfig.customServoMixer[i].targetChannel + 1,
masterConfig.customServoMixer[i].fromChannel + 1,
i,
masterConfig.customServoMixer[i].targetChannel,
masterConfig.customServoMixer[i].inputSource,
masterConfig.customServoMixer[i].rate,
masterConfig.customServoMixer[i].speed,
masterConfig.customServoMixer[i].min,
@ -1045,11 +1045,11 @@ static void cliServoMix(char *cmdline)
if (len == 0) {
printf("s");
for (inputSource = 0; inputSource < INPUT_SOURCE_COUNT; inputSource++)
printf("\ti%d", inputSource + 1);
printf("\ti%d", inputSource);
printf("\r\n");
for (servoIndex = 0; servoIndex < MAX_SUPPORTED_SERVOS; servoIndex++) {
printf("%d", servoIndex + 1);
printf("%d", servoIndex);
for (inputSource = 0; inputSource < INPUT_SOURCE_COUNT; inputSource++)
printf("\t%s ", (currentProfile->servoConf[servoIndex].reversedSources & (1 << inputSource)) ? "r" : "n");
printf("\r\n");
@ -1068,9 +1068,7 @@ static void cliServoMix(char *cmdline)
return;
}
if (args[SERVO] >= 1 && args[SERVO] <= MAX_SUPPORTED_SERVOS && args[INPUT] >= 1 && args[INPUT] <= INPUT_SOURCE_COUNT && (args[REVERSE] == -1 || args[REVERSE] == 1)) {
args[SERVO] -= 1;
args[INPUT] -= 1;
if (args[SERVO] >= 0 && args[SERVO] < MAX_SUPPORTED_SERVOS && args[INPUT] >= 0 && args[INPUT] < INPUT_SOURCE_COUNT && (args[REVERSE] == -1 || args[REVERSE] == 1)) {
if (args[REVERSE] == -1)
currentProfile->servoConf[args[SERVO]].reversedSources |= 1 << args[INPUT];
else
@ -1092,17 +1090,17 @@ static void cliServoMix(char *cmdline)
return;
}
i = args[RULE] - 1;
i = args[RULE];
if (i >= 0 && i < MAX_SERVO_RULES &&
args[TARGET] > 0 && args[TARGET] <= MAX_SUPPORTED_SERVOS &&
args[INPUT] >= 1 && args[INPUT] <= INPUT_SOURCE_COUNT &&
args[TARGET] >= 0 && args[TARGET] < MAX_SUPPORTED_SERVOS &&
args[INPUT] >= 0 && args[INPUT] < INPUT_SOURCE_COUNT &&
args[RATE] >= -100 && args[RATE] <= 100 &&
args[SPEED] >= 0 && args[SPEED] <= MAX_SERVO_SPEED &&
args[MIN] >= 0 && args[MIN] <= 100 &&
args[MAX] >= 0 && args[MAX] <= 100 && args[MIN] < args[MAX] &&
args[BOX] >= 0 && args[BOX] <= MAX_SERVO_BOXES) {
masterConfig.customServoMixer[i].targetChannel = args[TARGET] - 1;
masterConfig.customServoMixer[i].fromChannel = args[INPUT] - 1;
masterConfig.customServoMixer[i].targetChannel = args[TARGET];
masterConfig.customServoMixer[i].inputSource = args[INPUT];
masterConfig.customServoMixer[i].rate = args[RATE];
masterConfig.customServoMixer[i].speed = args[SPEED];
masterConfig.customServoMixer[i].min = args[MIN];
@ -1270,7 +1268,7 @@ static void cliDump(char *cmdline)
roll = masterConfig.customMotorMixer[i].roll;
pitch = masterConfig.customMotorMixer[i].pitch;
yaw = masterConfig.customMotorMixer[i].yaw;
printf("mmix %d", i + 1);
printf("mmix %d", i);
if (thr < 0)
cliWrite(' ');
printf("%s", ftoa(thr, buf));
@ -1294,9 +1292,9 @@ static void cliDump(char *cmdline)
break;
printf("smix %d %d %d %d %d %d %d %d\r\n",
i + 1,
masterConfig.customServoMixer[i].targetChannel + 1,
masterConfig.customServoMixer[i].fromChannel + 1,
i,
masterConfig.customServoMixer[i].targetChannel,
masterConfig.customServoMixer[i].inputSource,
masterConfig.customServoMixer[i].rate,
masterConfig.customServoMixer[i].speed,
masterConfig.customServoMixer[i].min,
@ -1309,7 +1307,7 @@ static void cliDump(char *cmdline)
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
for (channel = 0; channel < INPUT_SOURCE_COUNT; channel++) {
if (servoDirection(i, channel) < 0) {
printf("smix reverse %d %d -1\r\n", i + 1 , channel + 1);
printf("smix reverse %d %d -1\r\n", i , channel);
}
}
}

70
src/main/io/serial_msp.c
View File

@ -173,9 +173,6 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
//
// MSP commands for Cleanflight original features
//
#define MSP_CHANNEL_FORWARDING 32 //out message Returns channel forwarding settings
#define MSP_SET_CHANNEL_FORWARDING 33 //in message Channel forwarding settings
#define MSP_MODE_RANGES 34 //out message Returns all mode ranges
#define MSP_SET_MODE_RANGE 35 //in message Sets a single mode range
@ -273,7 +270,7 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
#define MSP_PIDNAMES 117 //out message the PID names
#define MSP_WP 118 //out message get a WP, WP# is in the payload, returns (WP#, lat, lon, alt, flags) WP#0-home, WP#16-poshold
#define MSP_BOXIDS 119 //out message get the permanent IDs associated to BOXes
#define MSP_SERVO_CONF 120 //out message Servo settings
#define MSP_SERVO_CONFIGURATIONS 120 //out message All servo configurations.
#define MSP_NAV_STATUS 121 //out message Returns navigation status
#define MSP_NAV_CONFIG 122 //out message Returns navigation parameters
@ -289,7 +286,7 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
#define MSP_SET_WP 209 //in message sets a given WP (WP#,lat, lon, alt, flags)
#define MSP_SELECT_SETTING 210 //in message Select Setting Number (0-2)
#define MSP_SET_HEAD 211 //in message define a new heading hold direction
#define MSP_SET_SERVO_CONF 212 //in message Servo settings
#define MSP_SET_SERVO_CONFIGURATION 212 //in message Servo settings
#define MSP_SET_MOTOR 214 //in message PropBalance function
#define MSP_SET_NAV_CONFIG 215 //in message Sets nav config parameters - write to the eeprom
@ -305,13 +302,12 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
#define MSP_ACC_TRIM 240 //out message get acc angle trim values
#define MSP_SET_ACC_TRIM 239 //in message set acc angle trim values
#define MSP_GPSSVINFO 164 //out message get Signal Strength (only U-Blox)
#define MSP_SERVOMIX_CONF 241 //out message Returns servo mixer configuration
#define MSP_SET_SERVOMIX_CONF 242 //in message Sets servo mixer configuration
#define MSP_SERVO_MIX_RULES 241 //out message Returns servo mixer configuration
#define MSP_SET_SERVO_MIX_RULE 242 //in message Sets servo mixer configuration
#define SERVO_CHUNK_SIZE 13
#define SERVO_CHUNK_SIZE 14
// FIXME This is now too big!
#define INBUF_SIZE (SERVO_CHUNK_SIZE * MAX_SUPPORTED_SERVOS)
#define INBUF_SIZE 64
typedef struct box_e {
const uint8_t boxId; // see boxId_e
@ -628,8 +624,6 @@ void mspReleasePortIfAllocated(serialPort_t *serialPort)
void mspInit(serialConfig_t *serialConfig)
{
BUILD_BUG_ON((SERVO_CHUNK_SIZE * MAX_SUPPORTED_SERVOS) > INBUF_SIZE);
// calculate used boxes based on features and fill availableBoxes[] array
memset(activeBoxIds, 0xFF, sizeof(activeBoxIds));
@ -842,7 +836,7 @@ static bool processOutCommand(uint8_t cmdMSP)
case MSP_SERVO:
s_struct((uint8_t *)&servo, MAX_SUPPORTED_SERVOS * 2);
break;
case MSP_SERVO_CONF:
case MSP_SERVO_CONFIGURATIONS:
headSerialReply(MAX_SUPPORTED_SERVOS * SERVO_CHUNK_SIZE);
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
serialize16(currentProfile->servoConf[i].min);
@ -852,19 +846,14 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(currentProfile->servoConf[i].angleAtMin);
serialize8(currentProfile->servoConf[i].angleAtMax);
serialize32(currentProfile->servoConf[i].reversedSources);
}
break;
case MSP_CHANNEL_FORWARDING:
headSerialReply(MAX_SUPPORTED_SERVOS);
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
serialize8(currentProfile->servoConf[i].forwardFromChannel);
}
break;
case MSP_SERVOMIX_CONF:
case MSP_SERVO_MIX_RULES:
headSerialReply(MAX_SERVO_RULES * sizeof(servoMixer_t));
for (i = 0; i < MAX_SERVO_RULES; i++) {
serialize8(masterConfig.customServoMixer[i].targetChannel);
serialize8(masterConfig.customServoMixer[i].fromChannel);
serialize8(masterConfig.customServoMixer[i].inputSource);
serialize8(masterConfig.customServoMixer[i].rate);
serialize8(masterConfig.customServoMixer[i].speed);
serialize8(masterConfig.customServoMixer[i].min);
@ -872,7 +861,6 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(masterConfig.customServoMixer[i].box);
}
break;
#endif
case MSP_MOTOR:
s_struct((uint8_t *)motor, 16);
@ -1439,45 +1427,39 @@ static bool processInCommand(void)
for (i = 0; i < 8; i++) // FIXME should this use MAX_MOTORS or MAX_SUPPORTED_MOTORS instead of 8
motor_disarmed[i] = read16();
break;
case MSP_SET_SERVO_CONF:
case MSP_SET_SERVO_CONFIGURATION:
#ifdef USE_SERVOS
if (currentPort->dataSize % SERVO_CHUNK_SIZE != 0) {
debug[0] = currentPort->dataSize;
i = read8();
if (i >= MAX_SUPPORTED_SERVOS) {
headSerialError(0);
} else {
uint8_t servoCount = currentPort->dataSize / SERVO_CHUNK_SIZE;
for (i = 0; i < MAX_SUPPORTED_SERVOS && i < servoCount; i++) {
currentProfile->servoConf[i].min = read16();
currentProfile->servoConf[i].max = read16();
currentProfile->servoConf[i].middle = read16();
currentProfile->servoConf[i].rate = read8();
currentProfile->servoConf[i].angleAtMin = read8();
currentProfile->servoConf[i].angleAtMax = read8();
currentProfile->servoConf[i].reversedSources = read32();
}
}
#endif
break;
case MSP_SET_CHANNEL_FORWARDING:
#ifdef USE_SERVOS
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
currentProfile->servoConf[i].min = read16();
currentProfile->servoConf[i].max = read16();
currentProfile->servoConf[i].middle = read16();
currentProfile->servoConf[i].rate = read8();
currentProfile->servoConf[i].angleAtMin = read8();
currentProfile->servoConf[i].angleAtMax = read8();
currentProfile->servoConf[i].reversedSources = read32();
currentProfile->servoConf[i].forwardFromChannel = read8();
}
#endif
break;
case MSP_SET_SERVOMIX_CONF:
case MSP_SET_SERVO_MIX_RULE:
#ifdef USE_SERVOS
for (i = 0; i < MAX_SERVO_RULES; i++) {
i = read8();
if (i >= MAX_SERVO_RULES) {
headSerialError(0);
} else {
masterConfig.customServoMixer[i].targetChannel = read8();
masterConfig.customServoMixer[i].fromChannel = read8();
masterConfig.customServoMixer[i].inputSource = read8();
masterConfig.customServoMixer[i].rate = read8();
masterConfig.customServoMixer[i].speed = read8();
masterConfig.customServoMixer[i].min = read8();
masterConfig.customServoMixer[i].max = read8();
masterConfig.customServoMixer[i].box = read8();
loadCustomServoMixer();
}
loadCustomServoMixer();
#endif
break;