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Merge pull request #2793 from DieHertz/clean-non-pg-remains 

Cleaned USE_PARAMETER_GROUPS remainders
This commit is contained in:
Martin Budden 2017-04-02 22:35:44 +01:00 committed by GitHub
parent 011acfa4dd 8768dfd3df
commit 806742262b
2 changed files with 0 additions and 456 deletions
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130
src/main/fc/cli.c
View File

@ -1102,8 +1102,6 @@ static void printValuePointer(const clivalue_t *var, const void *valuePointer, u
}
}
#ifdef USE_PARAMETER_GROUPS
static bool valuePtrEqualsDefault(uint8_t type, const void *ptr, const void *ptrDefault)
{
bool result = false;
@ -1443,94 +1441,6 @@ static void dumpAllValues(uint16_t valueSection, uint8_t dumpMask)
}
}
#else
void *getValuePointer(const clivalue_t *value)
{
uint8_t *ptr = value->ptr;
if ((value->type & VALUE_SECTION_MASK) == PROFILE_VALUE) {
ptr += sizeof(pidProfile_t) * getCurrentPidProfileIndex();
} else if ((value->type & VALUE_SECTION_MASK) == PROFILE_RATE_VALUE) {
ptr += sizeof(controlRateConfig_t) * getCurrentControlRateProfileIndex();
}
return ptr;
}
static void *getDefaultPointer(void *valuePointer, const master_t *defaultConfig)
{
return ((uint8_t *)valuePointer) - (uint32_t)&masterConfig + (uint32_t)defaultConfig;
}
static bool valueEqualsDefault(const clivalue_t *value, const master_t *defaultConfig)
{
void *ptr = getValuePointer(value);
void *ptrDefault = getDefaultPointer(ptr, defaultConfig);
bool result = false;
switch (value->type & VALUE_TYPE_MASK) {
case VAR_UINT8:
result = *(uint8_t *)ptr == *(uint8_t *)ptrDefault;
break;
case VAR_INT8:
result = *(int8_t *)ptr == *(int8_t *)ptrDefault;
break;
case VAR_UINT16:
result = *(uint16_t *)ptr == *(uint16_t *)ptrDefault;
break;
case VAR_INT16:
result = *(int16_t *)ptr == *(int16_t *)ptrDefault;
break;
/* not currently used
case VAR_UINT32:
result = *(uint32_t *)ptr == *(uint32_t *)ptrDefault;
break; */
case VAR_FLOAT:
result = *(float *)ptr == *(float *)ptrDefault;
break;
}
return result;
}
static void cliPrintVarDefault(const clivalue_t *var, uint32_t full, const master_t *defaultConfig)
{
void *ptr = getValuePointer(var);
void *defaultPtr = getDefaultPointer(ptr, defaultConfig);
printValuePointer(var, defaultPtr, full);
}
static void dumpValues(uint16_t valueSection, uint8_t dumpMask, const master_t *defaultConfig)
{
const clivalue_t *value;
for (uint32_t i = 0; i < ARRAYLEN(valueTable); i++) {
value = &valueTable[i];
if ((value->type & VALUE_SECTION_MASK) != valueSection) {
continue;
}
const char *format = "set %s = ";
if (cliDefaultPrintf(dumpMask, valueEqualsDefault(value, defaultConfig), format, valueTable[i].name)) {
cliPrintVarDefault(value, 0, defaultConfig);
cliPrint("\r\n");
}
if (cliDumpPrintf(dumpMask, valueEqualsDefault(value, defaultConfig), format, valueTable[i].name)) {
cliPrintVar(value, 0);
cliPrint("\r\n");
}
}
}
#endif // USE_PARAMETER_GROUPS
static void cliPrintVar(const clivalue_t *var, uint32_t full)
{
const void *ptr = getValuePointer(var);
@ -2644,11 +2554,7 @@ static void cliServoMix(char *cmdline)
printServoMix(DUMP_MASTER, customServoMixers(0), NULL);
} else if (strncasecmp(cmdline, "reset", 5) == 0) {
// erase custom mixer
#ifdef USE_PARAMETER_GROUPS
memset(customServoMixers_array(), 0, sizeof(*customServoMixers_array()));
#else
memset(masterConfig.customServoMixer, 0, sizeof(masterConfig.customServoMixer));
#endif
for (uint32_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
servoParamsMutable(i)->reversedSources = 0;
}
@ -3577,7 +3483,6 @@ static void cliRateProfile(char *cmdline)
}
}
#ifdef USE_PARAMETER_GROUPS
static void cliDumpPidProfile(uint8_t pidProfileIndex, uint8_t dumpMask)
{
if (pidProfileIndex >= MAX_PROFILE_COUNT) {
@ -3603,33 +3508,6 @@ static void cliDumpRateProfile(uint8_t rateProfileIndex, uint8_t dumpMask)
cliPrint("\r\n");
dumpAllValues(PROFILE_RATE_VALUE, dumpMask);
}
#else
static void cliDumpPidProfile(uint8_t pidProfileIndex, uint8_t dumpMask, const master_t *defaultConfig)
{
if (pidProfileIndex >= MAX_PROFILE_COUNT) {
// Faulty values
return;
}
changePidProfile(pidProfileIndex);
cliPrintHashLine("profile");
cliProfile("");
cliPrint("\r\n");
dumpValues(PROFILE_VALUE, dumpMask, defaultConfig);
}
static void cliDumpRateProfile(uint8_t rateProfileIndex, uint8_t dumpMask, const master_t *defaultConfig)
{
if (rateProfileIndex >= CONTROL_RATE_PROFILE_COUNT) {
// Faulty values
return;
}
changeControlRateProfile(rateProfileIndex);
cliPrintHashLine("rateprofile");
cliRateProfile("");
cliPrint("\r\n");
dumpValues(PROFILE_RATE_VALUE, dumpMask, defaultConfig);
}
#endif
static void cliSave(char *cmdline)
{
@ -3810,11 +3688,7 @@ static void cliStatus(char *cmdline)
#endif
cliPrintf("Stack size: %d, Stack address: 0x%x\r\n", stackTotalSize(), stackHighMem());
#ifdef USE_PARAMETER_GROUPS
cliPrintf("I2C Errors: %d, config size: %d, max available config: %d\r\n", i2cErrorCounter, getEEPROMConfigSize(), &__config_end - &__config_start);
#else
cliPrintf("I2C Errors: %d, config size: %d\r\n", i2cErrorCounter, sizeof(master_t));
#endif
const int gyroRate = getTaskDeltaTime(TASK_GYROPID) == 0 ? 0 : (int)(1000000.0f / ((float)getTaskDeltaTime(TASK_GYROPID)));
const int rxRate = getTaskDeltaTime(TASK_RX) == 0 ? 0 : (int)(1000000.0f / ((float)getTaskDeltaTime(TASK_RX)));
@ -4148,7 +4022,6 @@ static void cliResource(char *cmdline)
}
#endif /* USE_RESOURCE_MGMT */
#ifdef USE_PARAMETER_GROUPS
static void backupConfigs(void)
{
// make copies of configs to do differencing
@ -4187,7 +4060,6 @@ static void restoreConfigs(void)
}
}
}
#endif
static void printConfig(char *cmdline, bool doDiff)
{
@ -4337,10 +4209,8 @@ static void printConfig(char *cmdline, bool doDiff)
if (dumpMask & DUMP_RATES) {
cliDumpRateProfile(systemConfigCopy.activeRateProfile, dumpMask);
}
#ifdef USE_PARAMETER_GROUPS
// restore configs from copies
restoreConfigs();
#endif
}
static void cliDump(char *cmdline)

326
src/main/fc/config.c
View File

@ -471,327 +471,8 @@ uint16_t getCurrentMinthrottle(void)
return motorConfig()->minthrottle;
}
#ifndef USE_PARAMETER_GROUPS
void createDefaultConfig(master_t *config)
{
// Clear all configuration
memset(config, 0, sizeof(master_t));
uint32_t *featuresPtr = &config->featureConfig.enabledFeatures;
intFeatureClearAll(featuresPtr);
intFeatureSet(DEFAULT_RX_FEATURE | FEATURE_FAILSAFE , featuresPtr);
#ifdef DEFAULT_FEATURES
intFeatureSet(DEFAULT_FEATURES, featuresPtr);
#endif
#ifndef USE_PARAMETER_GROUPS
#ifdef USE_MSP_DISPLAYPORT
resetDisplayPortProfile(&config->displayPortProfileMsp);
#endif
#ifdef USE_MAX7456
resetDisplayPortProfile(&config->displayPortProfileMax7456);
#endif
#ifdef USE_MAX7456
resetMax7456Config(&config->vcdProfile);
#endif
#ifdef OSD
osdResetConfig(&config->osdConfig);
#endif
#endif // USE_PARAMETER_GROUPS
config->version = EEPROM_CONF_VERSION;
// global settings
#ifndef USE_PARAMETER_GROUPS
config->systemConfig.pidProfileIndex = 0; // default profile
config->systemConfig.debug_mode = DEBUG_MODE;
config->systemConfig.task_statistics = true;
#endif
#ifndef USE_PARAMETER_GROUPS
config->imuConfig.dcm_kp = 2500; // 1.0 * 10000
config->imuConfig.dcm_ki = 0; // 0.003 * 10000
config->imuConfig.small_angle = 25;
config->imuConfig.accDeadband.xy = 40;
config->imuConfig.accDeadband.z = 40;
config->imuConfig.acc_unarmedcal = 1;
#endif
#ifndef USE_PARAMETER_GROUPS
config->gyroConfig.gyro_lpf = GYRO_LPF_256HZ; // 256HZ default
#ifdef STM32F10X
config->gyroConfig.gyro_sync_denom = 8;
config->pidConfig.pid_process_denom = 1;
#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20689)
config->gyroConfig.gyro_sync_denom = 1;
config->pidConfig.pid_process_denom = 4;
#else
config->gyroConfig.gyro_sync_denom = 4;
config->pidConfig.pid_process_denom = 2;
#endif
config->gyroConfig.gyro_soft_lpf_type = FILTER_PT1;
config->gyroConfig.gyro_soft_lpf_hz = 90;
config->gyroConfig.gyro_soft_notch_hz_1 = 400;
config->gyroConfig.gyro_soft_notch_cutoff_1 = 300;
config->gyroConfig.gyro_soft_notch_hz_2 = 200;
config->gyroConfig.gyro_soft_notch_cutoff_2 = 100;
config->gyroConfig.gyro_align = ALIGN_DEFAULT;
config->gyroConfig.gyroMovementCalibrationThreshold = 48;
#endif
#ifndef USE_PARAMETER_GROUPS
resetCompassConfig(&config->compassConfig);
#endif
#ifndef USE_PARAMETER_GROUPS
resetAccelerometerTrims(&config->accelerometerConfig.accZero);
config->accelerometerConfig.acc_align = ALIGN_DEFAULT;
config->accelerometerConfig.acc_hardware = ACC_DEFAULT; // default/autodetect
resetRollAndPitchTrims(&config->accelerometerConfig.accelerometerTrims);
config->accelerometerConfig.acc_lpf_hz = 10.0f;
#endif
#ifndef USE_PARAMETER_GROUPS
config->boardAlignment.rollDegrees = 0;
config->boardAlignment.pitchDegrees = 0;
config->boardAlignment.yawDegrees = 0;
#endif
config->rcControlsConfig.yaw_control_reversed = false;
// xxx_hardware: 0:default/autodetect, 1: disable
config->compassConfig.mag_hardware = 1;
config->barometerConfig.baro_hardware = 1;
#ifndef USE_PARAMETER_GROUPS
resetBatteryConfig(&config->batteryConfig);
#if defined(USE_PWM) || defined(USE_PPM)
resetPpmConfig(&config->ppmConfig);
resetPwmConfig(&config->pwmConfig);
#endif
#ifdef USE_PWM
config->pwmConfig.inputFilteringMode = INPUT_FILTERING_DISABLED;
#endif
#ifdef TELEMETRY
resetTelemetryConfig(&config->telemetryConfig);
#endif
#endif
#ifndef USE_PARAMETER_GROUPS
#ifdef USE_ADC
resetAdcConfig(&config->adcConfig);
#endif
#ifdef BEEPER
resetBeeperDevConfig(&config->beeperDevConfig);
#endif
#endif
#ifdef SONAR
resetSonarConfig(&config->sonarConfig);
#endif
#ifndef USE_PARAMETER_GROUPS
#ifdef USE_SDCARD
resetsdcardConfig(&config->sdcardConfig);
#endif
#ifdef SERIALRX_PROVIDER
config->rxConfig.serialrx_provider = SERIALRX_PROVIDER;
#else
config->rxConfig.serialrx_provider = 0;
#endif
config->rxConfig.halfDuplex = 0;
config->rxConfig.rx_spi_protocol = RX_SPI_DEFAULT_PROTOCOL;
config->rxConfig.sbus_inversion = 1;
config->rxConfig.spektrum_sat_bind = 0;
config->rxConfig.spektrum_sat_bind_autoreset = 1;
config->rxConfig.midrc = 1500;
config->rxConfig.mincheck = 1100;
config->rxConfig.maxcheck = 1900;
config->rxConfig.rx_min_usec = 885; // any of first 4 channels below this value will trigger rx loss detection
config->rxConfig.rx_max_usec = 2115; // any of first 4 channels above this value will trigger rx loss detection
for (int i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
rxFailsafeChannelConfig_t *channelFailsafeConfig = &config->rxConfig.failsafe_channel_configurations[i];
channelFailsafeConfig->mode = (i < NON_AUX_CHANNEL_COUNT) ? RX_FAILSAFE_MODE_AUTO : RX_FAILSAFE_MODE_HOLD;
channelFailsafeConfig->step = (i == THROTTLE) ? CHANNEL_VALUE_TO_RXFAIL_STEP(config->rxConfig.rx_min_usec) : CHANNEL_VALUE_TO_RXFAIL_STEP(config->rxConfig.midrc);
}
config->rxConfig.rssi_channel = 0;
config->rxConfig.rssi_scale = RSSI_SCALE_DEFAULT;
config->rxConfig.rssi_invert = 0;
config->rxConfig.rcInterpolation = RC_SMOOTHING_AUTO;
config->rxConfig.rcInterpolationChannels = 0;
config->rxConfig.rcInterpolationInterval = 19;
config->rxConfig.fpvCamAngleDegrees = 0;
config->rxConfig.max_aux_channel = DEFAULT_AUX_CHANNEL_COUNT;
config->rxConfig.airModeActivateThreshold = 1350;
resetAllRxChannelRangeConfigurations(config->rxConfig.channelRanges);
#endif
#ifndef USE_PARAMETER_GROUPS
config->armingConfig.gyro_cal_on_first_arm = 0; // TODO - Cleanup retarded arm support
config->armingConfig.disarm_kill_switch = 1;
config->armingConfig.auto_disarm_delay = 5;
config->airplaneConfig.fixedwing_althold_reversed = false;
// Motor/ESC/Servo
resetMixerConfig(&config->mixerConfig);
resetMotorConfig(&config->motorConfig);
#ifdef USE_SERVOS
resetServoConfig(&config->servoConfig);
#endif
resetFlight3DConfig(&config->flight3DConfig);
#ifdef LED_STRIP
resetLedStripConfig(&config->ledStripConfig);
#endif
#ifdef GPS
// gps/nav stuff
config->gpsConfig.provider = GPS_NMEA;
config->gpsConfig.sbasMode = SBAS_AUTO;
config->gpsConfig.autoConfig = GPS_AUTOCONFIG_ON;
config->gpsConfig.autoBaud = GPS_AUTOBAUD_OFF;
#endif
resetSerialPinConfig(&config->serialPinConfig);
resetSerialConfig(&config->serialConfig);
for (int ii = 0; ii < MAX_PROFILE_COUNT; ++ii) {
resetProfile(&config->profile[ii]);
}
for (int ii = 0; ii < CONTROL_RATE_PROFILE_COUNT; ++ii) {
resetControlRateProfile(&config->controlRateProfile[ii]);
}
#endif
config->compassConfig.mag_declination = 0;
#ifdef BARO
#ifndef USE_PARAMETER_GROUPS
resetBarometerConfig(&config->barometerConfig);
#endif
#endif
// Radio
#ifdef RX_CHANNELS_TAER
parseRcChannels("TAER1234", &config->rxConfig);
#else
parseRcChannels("AETR1234", &config->rxConfig);
#endif
#ifndef USE_PARAMETER_GROUPS
resetRcControlsConfig(&config->rcControlsConfig);
config->throttleCorrectionConfig.throttle_correction_value = 0; // could 10 with althold or 40 for fpv
config->throttleCorrectionConfig.throttle_correction_angle = 800; // could be 80.0 deg with atlhold or 45.0 for fpv
// Failsafe Variables
config->failsafeConfig.failsafe_delay = 10; // 1sec
config->failsafeConfig.failsafe_off_delay = 10; // 1sec
config->failsafeConfig.failsafe_throttle = 1000; // default throttle off.
config->failsafeConfig.failsafe_kill_switch = 0; // default failsafe switch action is identical to rc link loss
config->failsafeConfig.failsafe_throttle_low_delay = 100; // default throttle low delay for "just disarm" on failsafe condition
config->failsafeConfig.failsafe_procedure = FAILSAFE_PROCEDURE_DROP_IT;// default full failsafe procedure is 0: auto-landing
#endif
#ifdef USE_SERVOS
#ifndef USE_PARAMETER_GROUPS
// servos
for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
config->servoProfile.servoConf[i].min = DEFAULT_SERVO_MIN;
config->servoProfile.servoConf[i].max = DEFAULT_SERVO_MAX;
config->servoProfile.servoConf[i].middle = DEFAULT_SERVO_MIDDLE;
config->servoProfile.servoConf[i].rate = 100;
config->servoProfile.servoConf[i].angleAtMin = DEFAULT_SERVO_MIN_ANGLE;
config->servoProfile.servoConf[i].angleAtMax = DEFAULT_SERVO_MAX_ANGLE;
config->servoProfile.servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED;
}
// gimbal
config->gimbalConfig.mode = GIMBAL_MODE_NORMAL;
#endif
// Channel forwarding;
config->servoConfig.channelForwardingStartChannel = AUX1;
#endif
#ifndef USE_PARAMETER_GROUPS
#ifdef GPS
resetNavigationConfig(&config->navigationConfig);
#endif
#endif
// custom mixer. clear by defaults.
for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
config->customMotorMixer[i].throttle = 0.0f;
}
#ifndef USE_PARAMETER_GROUPS
#ifdef VTX
config->vtxConfig.vtx_band = 4; //Fatshark/Airwaves
config->vtxConfig.vtx_channel = 1; //CH1
config->vtxConfig.vtx_mode = 0; //CH+BAND mode
config->vtxConfig.vtx_mhz = 5740; //F0
#endif
#endif
#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
memcpy(config->transponderConfig.data, &defaultTransponderData, sizeof(defaultTransponderData));
#endif
#ifndef USE_PARAMETER_GROUPS
#ifdef BLACKBOX
#if defined(ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT)
config->blackboxConfig.device = BLACKBOX_DEVICE_FLASH;
#elif defined(ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT)
config->blackboxConfig.device = BLACKBOX_DEVICE_SDCARD;
#else
config->blackboxConfig.device = BLACKBOX_DEVICE_SERIAL;
#endif
config->blackboxConfig.rate_num = 1;
config->blackboxConfig.rate_denom = 1;
config->blackboxConfig.on_motor_test = 0; // default off
#endif // BLACKBOX
#endif
#ifdef SERIALRX_UART
if (featureConfigured(FEATURE_RX_SERIAL)) {
int serialIndex = findSerialPortIndexByIdentifier(SERIALRX_UART);
if (serialIndex >= 0) {
config->serialConfig.portConfigs[serialIndex].functionMask = FUNCTION_RX_SERIAL;
}
}
#endif
#ifndef USE_PARAMETER_GROUPS
#ifdef USE_FLASHFS
resetFlashConfig(&config->flashConfig);
#endif
resetStatusLedConfig(&config->statusLedConfig);
#endif
}
#endif
void resetConfigs(void)
{
#ifndef USE_PARAMETER_GROUPS
createDefaultConfig(&masterConfig);
#endif
pgResetAll(MAX_PROFILE_COUNT);
#if defined(TARGET_CONFIG)
@ -890,16 +571,9 @@ void validateAndFixConfig(void)
}
#endif
#ifndef USE_PARAMETER_GROUPS
serialConfig_t *serialConfig = &masterConfig.serialConfig;
if (!isSerialConfigValid(serialConfig)) {
resetSerialConfig(serialConfig);
}
#else
if (!isSerialConfigValid(serialConfig())) {
pgResetFn_serialConfig(serialConfigMutable());
}
#endif
// Prevent invalid notch cutoff
if (currentPidProfile->dterm_notch_cutoff >= currentPidProfile->dterm_notch_hz) {