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Cleanup disabling of mixers for CJMCU, this might be usefulfor the 

AlienWii32 target too.

Deleted old out of date comments.  Various other minor cleanups.
This commit is contained in:
Dominic Clifton 2014-12-24 11:33:14 +00:00
parent db14bd80cb
commit b123b4ef03
6 changed files with 69 additions and 54 deletions
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52
src/main/flight/mixer.c
View File

@ -62,7 +62,7 @@ static rxConfig_t *rxConfig;
static gimbalConfig_t *gimbalConfig;
static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
static MultiType currentMixerConfiguration;
static multiType_e currentMixerConfiguration;
static const motorMixer_t mixerQuadX[] = {
{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
@ -70,8 +70,7 @@ static const motorMixer_t mixerQuadX[] = {
{ 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L
{ 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L
};
#ifndef CJMCU
#ifndef USE_QUAD_MIXER_ONLY
static const motorMixer_t mixerTri[] = {
{ 1.0f, 0.0f, 1.333333f, 0.0f }, // REAR
{ 1.0f, -1.0f, -0.666667f, 0.0f }, // RIGHT
@ -258,8 +257,8 @@ int servoDirection(int nr, int lr)
static motorMixer_t *customMixers;
#ifndef CJMCU
void mixerInit(MultiType mixerConfiguration, motorMixer_t *initialCustomMixers)
#ifndef USE_QUAD_MIXER_ONLY
void mixerInit(multiType_e mixerConfiguration, motorMixer_t *initialCustomMixers)
{
currentMixerConfiguration = mixerConfiguration;
@ -316,9 +315,27 @@ void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfigura
mixerResetMotors();
}
void mixerLoadMix(int index, motorMixer_t *customMixers)
{
int i;
// we're 1-based
index++;
// clear existing
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
customMixers[i].throttle = 0.0f;
// do we have anything here to begin with?
if (mixers[index].motor != NULL) {
for (i = 0; i < mixers[index].motorCount; i++)
customMixers[i] = mixers[index].motor[i];
}
}
#else
void mixerInit(MultiType mixerConfiguration, motorMixer_t *initialCustomMixers)
void mixerInit(multiType_e mixerConfiguration, motorMixer_t *initialCustomMixers)
{
currentMixerConfiguration = mixerConfiguration;
@ -351,25 +368,6 @@ void mixerResetMotors(void)
motor_disarmed[i] = feature(FEATURE_3D) ? flight3DConfig->neutral3d : escAndServoConfig->mincommand;
}
#ifndef CJMCU
void mixerLoadMix(int index, motorMixer_t *customMixers)
{
int i;
// we're 1-based
index++;
// clear existing
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
customMixers[i].throttle = 0.0f;
// do we have anything here to begin with?
if (mixers[index].motor != NULL) {
for (i = 0; i < mixers[index].motorCount; i++)
customMixers[i] = mixers[index].motor[i];
}
}
#endif
static void updateGimbalServos(void)
{
pwmWriteServo(0, servo[0]);
@ -454,6 +452,7 @@ void writeAllMotors(int16_t mc)
writeMotors();
}
#ifndef USE_QUAD_MIXER_ONLY
static void airplaneMixer(void)
{
int16_t flapperons[2] = { 0, 0 };
@ -499,6 +498,7 @@ static void airplaneMixer(void)
servo[i] += determineServoMiddleOrForwardFromChannel(i);
}
}
#endif
void mixTable(void)
{
@ -515,6 +515,7 @@ void mixTable(void)
for (i = 0; i < motorCount; i++)
motor[i] = rcCommand[THROTTLE] * currentMixer[i].throttle + axisPID[PITCH] * currentMixer[i].pitch + axisPID[ROLL] * currentMixer[i].roll + -mixerConfig->yaw_direction * axisPID[YAW] * currentMixer[i].yaw;
#ifndef USE_QUAD_MIXER_ONLY
// airplane / servo mixes
switch (currentMixerConfiguration) {
case MULTITYPE_BI:
@ -572,6 +573,7 @@ void mixTable(void)
default:
break;
}
#endif
// do camstab
if (feature(FEATURE_SERVO_TILT)) {

9
src/main/flight/mixer.h
View File

@ -20,7 +20,6 @@
#define MAX_SUPPORTED_MOTORS 12
#define MAX_SUPPORTED_SERVOS 8
// Syncronized with GUI. Only exception is mixer > 11, which is always returned as 11 during serialization.
typedef enum MultiType
{
MULTITYPE_TRI = 1,
@ -33,9 +32,9 @@ typedef enum MultiType
MULTITYPE_FLYING_WING = 8,
MULTITYPE_Y4 = 9,
MULTITYPE_HEX6X = 10,
MULTITYPE_OCTOX8 = 11, // Java GUI is same for the next 3 configs
MULTITYPE_OCTOFLATP = 12, // MultiWinGui shows this differently
MULTITYPE_OCTOFLATX = 13, // MultiWinGui shows this differently
MULTITYPE_OCTOX8 = 11,
MULTITYPE_OCTOFLATP = 12,
MULTITYPE_OCTOFLATX = 13,
MULTITYPE_AIRPLANE = 14, // airplane / singlecopter / dualcopter (not yet properly supported)
MULTITYPE_HELI_120_CCPM = 15,
MULTITYPE_HELI_90_DEG = 16,
@ -47,7 +46,7 @@ typedef enum MultiType
MULTITYPE_ATAIL4 = 22,
MULTITYPE_CUSTOM = 23,
MULTITYPE_LAST = 24
} MultiType;
} multiType_e;
// Custom mixer data per motor
typedef struct motorMixer_t {

51
src/main/io/serial_cli.c
View File

@ -74,8 +74,10 @@
#include "serial_cli.h"
// we unset this on 'exit'
extern uint8_t cliMode;
extern uint16_t cycleTime; // FIXME dependency on mw.c
static serialPort_t *cliPort;
static void cliAux(char *cmdline);
static void cliAdjustmentRange(char *cmdline);
static void cliCMix(char *cmdline);
@ -83,18 +85,6 @@ static void cliDefaults(char *cmdline);
static void cliDump(char *cmdLine);
static void cliExit(char *cmdline);
static void cliFeature(char *cmdline);
#ifdef GPS
static void cliGpsPassthrough(char *cmdline);
#endif
static void cliHelp(char *cmdline);
static void cliMap(char *cmdline);
#ifdef LED_STRIP
static void cliLed(char *cmdline);
static void cliColor(char *cmdline);
#endif
#ifndef CJMCU
static void cliMixer(char *cmdline);
#endif
static void cliMotor(char *cmdline);
static void cliProfile(char *cmdline);
static void cliRateProfile(char *cmdline);
@ -105,9 +95,21 @@ static void cliGet(char *cmdline);
static void cliStatus(char *cmdline);
static void cliVersion(char *cmdline);
extern uint16_t cycleTime; // FIXME dependency on mw.c
#ifdef GPS
static void cliGpsPassthrough(char *cmdline);
#endif
static serialPort_t *cliPort;
static void cliHelp(char *cmdline);
static void cliMap(char *cmdline);
#ifdef LED_STRIP
static void cliLed(char *cmdline);
static void cliColor(char *cmdline);
#endif
#ifndef USE_QUAD_MIXER_ONLY
static void cliMixer(char *cmdline);
#endif
// signal that we're in cli mode
uint8_t cliMode = 0;
@ -116,7 +118,8 @@ uint8_t cliMode = 0;
static char cliBuffer[48];
static uint32_t bufferIndex = 0;
// sync this with mutiType_e
#ifndef USE_QUAD_MIXER_ONLY
// sync this with multiType_e
static const char * const mixerNames[] = {
"TRI", "QUADP", "QUADX", "BI",
"GIMBAL", "Y6", "HEX6",
@ -125,6 +128,7 @@ static const char * const mixerNames[] = {
"HEX6H", "PPM_TO_SERVO", "DUALCOPTER", "SINGLECOPTER",
"ATAIL4", "CUSTOM", NULL
};
#endif
// sync this with features_e
static const char * const featureNames[] = {
@ -170,7 +174,7 @@ const clicmd_t cmdTable[] = {
{ "led", "configure leds", cliLed },
#endif
{ "map", "mapping of rc channel order", cliMap },
#ifndef CJMCU
#ifndef USE_QUAD_MIXER_ONLY
{ "mixer", "mixer name or list", cliMixer },
#endif
{ "motor", "get/set motor output value", cliMotor },
@ -573,7 +577,7 @@ static void cliAdjustmentRange(char *cmdline)
static void cliCMix(char *cmdline)
{
#ifdef CJMCU
#ifdef USE_QUAD_MIXER_ONLY
UNUSED(cmdline);
#else
int i, check = 0;
@ -753,9 +757,12 @@ static void cliDump(char *cmdline)
{
unsigned int i;
char buf[16];
float thr, roll, pitch, yaw;
uint32_t mask;
#ifndef USE_QUAD_MIXER_ONLY
float thr, roll, pitch, yaw;
#endif
uint8_t dumpMask = DUMP_ALL;
if (strcasecmp(cmdline, "master") == 0) {
dumpMask = DUMP_MASTER; // only
@ -775,6 +782,7 @@ static void cliDump(char *cmdline)
printf("\r\n# dump master\r\n");
printf("\r\n# mixer\r\n");
#ifndef USE_QUAD_MIXER_ONLY
printf("mixer %s\r\n", mixerNames[masterConfig.mixerConfiguration - 1]);
if (masterConfig.customMixer[0].throttle != 0.0f) {
@ -801,6 +809,7 @@ static void cliDump(char *cmdline)
}
printf("cmix %d 0 0 0 0\r\n", i + 1);
}
#endif
printf("\r\n\r\n# feature\r\n");
@ -1014,7 +1023,7 @@ static void cliMap(char *cmdline)
printf("%s\r\n", out);
}
#ifndef CJMCU
#ifndef USE_QUAD_MIXER_ONLY
static void cliMixer(char *cmdline)
{
int i;

6
src/main/io/serial_msp.c
View File

@ -1340,9 +1340,11 @@ static bool processInCommand(void)
masterConfig.batteryConfig.currentMeterOffset = read16();
break;
#ifndef USE_QUAD_MIXER_ONLY
case MSP_SET_MIXER:
masterConfig.mixerConfiguration = read8();
break;
#endif
case MSP_SET_RX_CONFIG:
masterConfig.rxConfig.serialrx_provider = read8();
@ -1364,8 +1366,8 @@ static bool processInCommand(void)
case MSP_SET_CONFIG:
#ifdef CJMCU
read8(); // multitype
#ifdef USE_QUAD_MIXER_ONLY
read8(); // multitype ignored
#else
masterConfig.mixerConfiguration = read8(); // multitype
#endif

2
src/main/main.c
View File

@ -96,7 +96,7 @@ void initTelemetry(void);
void serialInit(serialConfig_t *initialSerialConfig);
failsafe_t* failsafeInit(rxConfig_t *intialRxConfig);
pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init);
void mixerInit(MultiType mixerConfiguration, motorMixer_t *customMixers);
void mixerInit(multiType_e mixerConfiguration, motorMixer_t *customMixers);
void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration);
void rxInit(rxConfig_t *rxConfig, failsafe_t *failsafe);
void beepcodeInit(failsafe_t *initialFailsafe);

3
src/main/target/CJMCU/target.h
View File

@ -67,3 +67,6 @@
// USART2, PA3
#define BIND_PORT GPIOA
#define BIND_PIN Pin_3
// Since the CJMCU PCB has holes for 4 motors in each corner we can save same flash space by disabling support for other mixers.
#define USE_QUAD_MIXER_ONLY