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Added sensor config macros

This commit is contained in:
Martin Budden 2016-11-30 21:30:57 +00:00
parent c97282e21d
commit a9280d732a
6 changed files with 29 additions and 26 deletions
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6
src/main/blackbox/blackbox.c
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@ -1270,9 +1270,9 @@ static bool blackboxWriteSysinfo()
BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff:%d,%d", masterConfig.gyroConfig.gyro_soft_notch_cutoff_1,
masterConfig.gyroConfig.gyro_soft_notch_cutoff_2);
BLACKBOX_PRINT_HEADER_LINE("acc_lpf_hz:%d", (int)(masterConfig.accelerometerConfig.acc_lpf_hz * 100.0f));
BLACKBOX_PRINT_HEADER_LINE("acc_hardware:%d", masterConfig.sensorSelectionConfig.acc_hardware);
BLACKBOX_PRINT_HEADER_LINE("baro_hardware:%d", masterConfig.sensorSelectionConfig.baro_hardware);
BLACKBOX_PRINT_HEADER_LINE("mag_hardware:%d", masterConfig.sensorSelectionConfig.mag_hardware);
BLACKBOX_PRINT_HEADER_LINE("acc_hardware:%d", sensorSelectionConfig()->acc_hardware);
BLACKBOX_PRINT_HEADER_LINE("baro_hardware:%d", sensorSelectionConfig()->baro_hardware);
BLACKBOX_PRINT_HEADER_LINE("mag_hardware:%d", sensorSelectionConfig()->mag_hardware);
BLACKBOX_PRINT_HEADER_LINE("gyro_cal_on_first_arm:%d", masterConfig.armingConfig.gyro_cal_on_first_arm);
BLACKBOX_PRINT_HEADER_LINE("rc_interpolation:%d", masterConfig.rxConfig.rcInterpolation);
BLACKBOX_PRINT_HEADER_LINE("rc_interpolation_interval:%d", masterConfig.rxConfig.rcInterpolationInterval);

3
src/main/config/config_master.h
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@ -66,6 +66,9 @@
#define servoConfig(x) (&masterConfig.servoConfig)
#define servoMixerConfig(x) (&masterConfig.servoMixerConfig)
#define gimbalConfig(x) (&masterConfig.gimbalConfig)
#define sensorSelectionConfig(x) (&masterConfig.sensorSelectionConfig)
#define sensorAlignmentConfig(x) (&masterConfig.sensorAlignmentConfig)
#define sensorTrims(x) (&masterConfig.sensorTrims)
// System-wide
typedef struct master_s {

2
src/main/fc/config.c
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@ -842,7 +842,7 @@ void activateConfig(void)
#endif
useFailsafeConfig(&masterConfig.failsafeConfig);
setAccelerationTrims(&masterConfig.sensorTrims.accZero);
setAccelerationTrims(&sensorTrims()->accZero);
setAccelerationFilter(masterConfig.accelerometerConfig.acc_lpf_hz);
mixerUseConfigs(

24
src/main/fc/fc_msp.c
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@ -1075,9 +1075,9 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
break;
case MSP_SENSOR_ALIGNMENT:
sbufWriteU8(dst, masterConfig.sensorAlignmentConfig.gyro_align);
sbufWriteU8(dst, masterConfig.sensorAlignmentConfig.acc_align);
sbufWriteU8(dst, masterConfig.sensorAlignmentConfig.mag_align);
sbufWriteU8(dst, sensorAlignmentConfig()->gyro_align);
sbufWriteU8(dst, sensorAlignmentConfig()->acc_align);
sbufWriteU8(dst, sensorAlignmentConfig()->mag_align);
break;
case MSP_ADVANCED_CONFIG:
@ -1121,9 +1121,9 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
break;
case MSP_SENSOR_CONFIG:
sbufWriteU8(dst, masterConfig.sensorSelectionConfig.acc_hardware);
sbufWriteU8(dst, masterConfig.sensorSelectionConfig.baro_hardware);
sbufWriteU8(dst, masterConfig.sensorSelectionConfig.mag_hardware);
sbufWriteU8(dst, sensorSelectionConfig()->acc_hardware);
sbufWriteU8(dst, sensorSelectionConfig()->baro_hardware);
sbufWriteU8(dst, sensorSelectionConfig()->mag_hardware);
break;
case MSP_REBOOT:
@ -1427,9 +1427,9 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break;
case MSP_SET_SENSOR_ALIGNMENT:
masterConfig.sensorAlignmentConfig.gyro_align = sbufReadU8(src);
masterConfig.sensorAlignmentConfig.acc_align = sbufReadU8(src);
masterConfig.sensorAlignmentConfig.mag_align = sbufReadU8(src);
sensorAlignmentConfig()->gyro_align = sbufReadU8(src);
sensorAlignmentConfig()->acc_align = sbufReadU8(src);
sensorAlignmentConfig()->mag_align = sbufReadU8(src);
break;
case MSP_SET_ADVANCED_CONFIG:
@ -1481,9 +1481,9 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break;
case MSP_SET_SENSOR_CONFIG:
masterConfig.sensorSelectionConfig.acc_hardware = sbufReadU8(src);
masterConfig.sensorSelectionConfig.baro_hardware = sbufReadU8(src);
masterConfig.sensorSelectionConfig.mag_hardware = sbufReadU8(src);
sensorSelectionConfig()->acc_hardware = sbufReadU8(src);
sensorSelectionConfig()->baro_hardware = sbufReadU8(src);
sensorSelectionConfig()->mag_hardware = sbufReadU8(src);
break;
case MSP_RESET_CONF:

2
src/main/fc/fc_tasks.c
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@ -157,7 +157,7 @@ static void taskUpdateRxMain(uint32_t currentTime)
static void taskUpdateCompass(uint32_t currentTime)
{
if (sensors(SENSOR_MAG)) {
compassUpdate(currentTime, &masterConfig.sensorTrims.magZero);
compassUpdate(currentTime, &sensorTrims()->magZero);
}
}
#endif

18
src/main/io/serial_cli.c
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@ -802,9 +802,9 @@ const clivalue_t valueTable[] = {
{ "use_vbat_alerts", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.batteryConfig.useVBatAlerts, .config.lookup = { TABLE_OFF_ON } },
{ "use_consumption_alerts", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.batteryConfig.useConsumptionAlerts, .config.lookup = { TABLE_OFF_ON } },
{ "consumption_warning_percentage", VAR_UINT8 | MASTER_VALUE, &masterConfig.batteryConfig.consumptionWarningPercentage, .config.minmax = { 0, 100 } },
{ "align_gyro", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.sensorAlignmentConfig.gyro_align, .config.lookup = { TABLE_ALIGNMENT } },
{ "align_acc", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.sensorAlignmentConfig.acc_align, .config.lookup = { TABLE_ALIGNMENT } },
{ "align_mag", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.sensorAlignmentConfig.mag_align, .config.lookup = { TABLE_ALIGNMENT } },
{ "align_gyro", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &sensorAlignmentConfig()->gyro_align, .config.lookup = { TABLE_ALIGNMENT } },
{ "align_acc", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &sensorAlignmentConfig()->acc_align, .config.lookup = { TABLE_ALIGNMENT } },
{ "align_mag", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &sensorAlignmentConfig()->mag_align, .config.lookup = { TABLE_ALIGNMENT } },
{ "align_board_roll", VAR_INT16 | MASTER_VALUE, &masterConfig.boardAlignment.rollDegrees, .config.minmax = { -180, 360 } },
{ "align_board_pitch", VAR_INT16 | MASTER_VALUE, &masterConfig.boardAlignment.pitchDegrees, .config.minmax = { -180, 360 } },
@ -868,7 +868,7 @@ const clivalue_t valueTable[] = {
{ "rx_min_usec", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.rx_min_usec, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX } },
{ "rx_max_usec", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.rx_max_usec, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX } },
{ "acc_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.sensorSelectionConfig.acc_hardware, .config.lookup = { TABLE_ACC_HARDWARE } },
{ "acc_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &sensorSelectionConfig()->acc_hardware, .config.lookup = { TABLE_ACC_HARDWARE } },
{ "acc_lpf_hz", VAR_UINT16 | MASTER_VALUE, &masterConfig.accelerometerConfig.acc_lpf_hz, .config.minmax = { 0, 400 } },
{ "accxy_deadband", VAR_UINT8 | MASTER_VALUE, &masterConfig.imuConfig.accDeadband.xy, .config.minmax = { 0, 100 } },
{ "accz_deadband", VAR_UINT8 | MASTER_VALUE, &masterConfig.imuConfig.accDeadband.z, .config.minmax = { 0, 100 } },
@ -881,11 +881,11 @@ const clivalue_t valueTable[] = {
{ "baro_noise_lpf", VAR_FLOAT | MASTER_VALUE, &masterConfig.barometerConfig.baro_noise_lpf, .config.minmax = { 0 , 1 } },
{ "baro_cf_vel", VAR_FLOAT | MASTER_VALUE, &masterConfig.barometerConfig.baro_cf_vel, .config.minmax = { 0 , 1 } },
{ "baro_cf_alt", VAR_FLOAT | MASTER_VALUE, &masterConfig.barometerConfig.baro_cf_alt, .config.minmax = { 0 , 1 } },
{ "baro_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.sensorSelectionConfig.baro_hardware, .config.lookup = { TABLE_BARO_HARDWARE } },
{ "baro_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &sensorSelectionConfig()->baro_hardware, .config.lookup = { TABLE_BARO_HARDWARE } },
#endif
#ifdef MAG
{ "mag_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.sensorSelectionConfig.mag_hardware, .config.lookup = { TABLE_MAG_HARDWARE } },
{ "mag_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &sensorSelectionConfig()->mag_hardware, .config.lookup = { TABLE_MAG_HARDWARE } },
{ "mag_declination", VAR_INT16 | MASTER_VALUE, &masterConfig.compassConfig.mag_declination, .config.minmax = { -18000, 18000 } },
#endif
{ "dterm_lowpass_type", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.dterm_filter_type, .config.lookup = { TABLE_LOWPASS_TYPE } },
@ -944,9 +944,9 @@ const clivalue_t valueTable[] = {
#endif
#ifdef MAG
{ "magzero_x", VAR_INT16 | MASTER_VALUE, &masterConfig.sensorTrims.magZero.raw[X], .config.minmax = { -32768, 32767 } },
{ "magzero_y", VAR_INT16 | MASTER_VALUE, &masterConfig.sensorTrims.magZero.raw[Y], .config.minmax = { -32768, 32767 } },
{ "magzero_z", VAR_INT16 | MASTER_VALUE, &masterConfig.sensorTrims.magZero.raw[Z], .config.minmax = { -32768, 32767 } },
{ "magzero_x", VAR_INT16 | MASTER_VALUE, &sensorTrims()->magZero.raw[X], .config.minmax = { -32768, 32767 } },
{ "magzero_y", VAR_INT16 | MASTER_VALUE, &sensorTrims()->magZero.raw[Y], .config.minmax = { -32768, 32767 } },
{ "magzero_z", VAR_INT16 | MASTER_VALUE, &sensorTrims()->magZero.raw[Z], .config.minmax = { -32768, 32767 } },
#endif
#ifdef LED_STRIP
{ "ledstrip_visual_beeper", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.ledStripConfig.ledstrip_visual_beeper, .config.lookup = { TABLE_OFF_ON } },