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Merge pull request #1851 from martinbudden/bf_config_arrays 

Added adjustmentProfile() and modeActivationProfile() macros
This commit is contained in:
Martin Budden 2016-12-21 11:25:37 +01:00 committed by GitHub
parent 1475138e75 11b69f9a01
commit c2af22c4f1
10 changed files with 42 additions and 33 deletions
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2
src/main/blackbox/blackbox.c
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@ -820,7 +820,7 @@ void startBlackbox(void)
*/
blackboxBuildConditionCache();
blackboxModeActivationConditionPresent = isModeActivationConditionPresent(masterConfig.modeActivationConditions, BOXBLACKBOX);
blackboxModeActivationConditionPresent = isModeActivationConditionPresent(modeActivationProfile()->modeActivationConditions, BOXBLACKBOX);
blackboxIteration = 0;
blackboxPFrameIndex = 0;

7
src/main/config/config_master.h
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@ -99,6 +99,8 @@
#define blackboxConfig(x) (&masterConfig.blackboxConfig)
#define flashConfig(x) (&masterConfig.flashConfig)
#define pidConfig(x) (&masterConfig.pidConfig)
#define adjustmentProfile(x) (&masterConfig.adjustmentProfile)
#define modeActivationProfile(x) (&masterConfig.modeActivationProfile)
// System-wide
@ -215,9 +217,8 @@ typedef struct master_s {
profile_t profile[MAX_PROFILE_COUNT];
uint8_t current_profile_index;
modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
adjustmentRange_t adjustmentRanges[MAX_ADJUSTMENT_RANGE_COUNT];
modeActivationProfile_t modeActivationProfile;
adjustmentProfile_t adjustmentProfile;
#ifdef VTX
uint8_t vtx_band; //1=A, 2=B, 3=E, 4=F(Airwaves/Fatshark), 5=Raceband
uint8_t vtx_channel; //1-8

2
src/main/fc/config.c
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@ -882,7 +882,7 @@ void activateConfig(void)
resetAdjustmentStates();
useRcControlsConfig(
masterConfig.modeActivationConditions,
modeActivationProfile()->modeActivationConditions,
&masterConfig.motorConfig,
&currentProfile->pidProfile
);

10
src/main/fc/fc_msp.c
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@ -797,7 +797,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
case MSP_MODE_RANGES:
for (int i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
modeActivationCondition_t *mac = &masterConfig.modeActivationConditions[i];
modeActivationCondition_t *mac = &modeActivationProfile()->modeActivationConditions[i];
const box_t *box = &boxes[mac->modeId];
sbufWriteU8(dst, box->permanentId);
sbufWriteU8(dst, mac->auxChannelIndex);
@ -808,7 +808,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
case MSP_ADJUSTMENT_RANGES:
for (int i = 0; i < MAX_ADJUSTMENT_RANGE_COUNT; i++) {
adjustmentRange_t *adjRange = &masterConfig.adjustmentRanges[i];
adjustmentRange_t *adjRange = &adjustmentProfile()->adjustmentRanges[i];
sbufWriteU8(dst, adjRange->adjustmentIndex);
sbufWriteU8(dst, adjRange->auxChannelIndex);
sbufWriteU8(dst, adjRange->range.startStep);
@ -1316,7 +1316,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_MODE_RANGE:
i = sbufReadU8(src);
if (i < MAX_MODE_ACTIVATION_CONDITION_COUNT) {
modeActivationCondition_t *mac = &masterConfig.modeActivationConditions[i];
modeActivationCondition_t *mac = &modeActivationProfile()->modeActivationConditions[i];
i = sbufReadU8(src);
const box_t *box = findBoxByPermenantId(i);
if (box) {
@ -1325,7 +1325,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
mac->range.startStep = sbufReadU8(src);
mac->range.endStep = sbufReadU8(src);
useRcControlsConfig(masterConfig.modeActivationConditions, &masterConfig.motorConfig, &currentProfile->pidProfile);
useRcControlsConfig(modeActivationProfile()->modeActivationConditions, &masterConfig.motorConfig, &currentProfile->pidProfile);
} else {
return MSP_RESULT_ERROR;
}
@ -1337,7 +1337,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_ADJUSTMENT_RANGE:
i = sbufReadU8(src);
if (i < MAX_ADJUSTMENT_RANGE_COUNT) {
adjustmentRange_t *adjRange = &masterConfig.adjustmentRanges[i];
adjustmentRange_t *adjRange = &adjustmentProfile()->adjustmentRanges[i];
i = sbufReadU8(src);
if (i < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT) {
adjRange->adjustmentIndex = i;

6
src/main/fc/mw.c
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@ -576,11 +576,11 @@ void processRx(timeUs_t currentTimeUs)
updateInflightCalibrationState();
}
updateActivatedModes(masterConfig.modeActivationConditions);
updateActivatedModes(modeActivationProfile()->modeActivationConditions);
if (!cliMode) {
updateAdjustmentStates(masterConfig.adjustmentRanges);
processRcAdjustments(currentControlRateProfile, &masterConfig.rxConfig);
updateAdjustmentStates(adjustmentProfile()->adjustmentRanges);
processRcAdjustments(currentControlRateProfile, rxConfig());
}
bool canUseHorizonMode = true;

8
src/main/fc/rc_controls.h
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@ -140,6 +140,10 @@ typedef struct modeActivationCondition_s {
channelRange_t range;
} modeActivationCondition_t;
typedef struct modeActivationProfile_s {
modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
} modeActivationProfile_t;
#define IS_RANGE_USABLE(range) ((range)->startStep < (range)->endStep)
typedef struct controlRateConfig_s {
@ -263,6 +267,10 @@ typedef struct adjustmentState_s {
#define MAX_ADJUSTMENT_RANGE_COUNT 15
typedef struct adjustmentProfile_s {
adjustmentRange_t adjustmentRanges[MAX_ADJUSTMENT_RANGE_COUNT];
} adjustmentProfile_t;
bool isAirmodeActive(void);
void resetAdjustmentStates(void);
void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);

12
src/main/io/serial_cli.c
View File

@ -1216,8 +1216,8 @@ static void printAux(uint8_t dumpMask, master_t *defaultConfig)
modeActivationCondition_t *macDefault;
bool equalsDefault;
for (uint32_t i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
mac = &masterConfig.modeActivationConditions[i];
macDefault = &defaultConfig->modeActivationConditions[i];
mac = &modeActivationProfile()->modeActivationConditions[i];
macDefault = &defaultConfig->modeActivationProfile.modeActivationConditions[i];
equalsDefault = mac->modeId == macDefault->modeId
&& mac->auxChannelIndex == macDefault->auxChannelIndex
&& mac->range.startStep == macDefault->range.startStep
@ -1251,7 +1251,7 @@ static void cliAux(char *cmdline)
ptr = cmdline;
i = atoi(ptr++);
if (i < MAX_MODE_ACTIVATION_CONDITION_COUNT) {
modeActivationCondition_t *mac = &masterConfig.modeActivationConditions[i];
modeActivationCondition_t *mac = &modeActivationProfile()->modeActivationConditions[i];
uint8_t validArgumentCount = 0;
ptr = nextArg(ptr);
if (ptr) {
@ -1485,8 +1485,8 @@ static void printAdjustmentRange(uint8_t dumpMask, master_t *defaultConfig)
adjustmentRange_t *arDefault;
bool equalsDefault;
for (uint32_t i = 0; i < MAX_ADJUSTMENT_RANGE_COUNT; i++) {
ar = &masterConfig.adjustmentRanges[i];
arDefault = &defaultConfig->adjustmentRanges[i];
ar = &adjustmentProfile()->adjustmentRanges[i];
arDefault = &defaultConfig->adjustmentProfile.adjustmentRanges[i];
equalsDefault = ar->auxChannelIndex == arDefault->auxChannelIndex
&& ar->range.startStep == arDefault->range.startStep
&& ar->range.endStep == arDefault->range.endStep
@ -1526,7 +1526,7 @@ static void cliAdjustmentRange(char *cmdline)
ptr = cmdline;
i = atoi(ptr++);
if (i < MAX_ADJUSTMENT_RANGE_COUNT) {
adjustmentRange_t *ar = &masterConfig.adjustmentRanges[i];
adjustmentRange_t *ar = &adjustmentProfile()->adjustmentRanges[i];
uint8_t validArgumentCount = 0;
ptr = nextArg(ptr);

2
src/main/main.c
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@ -441,7 +441,7 @@ void init(void)
failsafeInit(rxConfig(), flight3DConfig()->deadband3d_throttle);
rxInit(rxConfig(), masterConfig.modeActivationConditions);
rxInit(rxConfig(), modeActivationProfile()->modeActivationConditions);
#ifdef GPS
if (feature(FEATURE_GPS)) {

10
src/main/target/COLIBRI_RACE/i2c_bst.c
View File

@ -720,7 +720,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
break;
case BST_MODE_RANGES:
for (i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
modeActivationCondition_t *mac = &masterConfig.modeActivationConditions[i];
modeActivationCondition_t *mac = &modeActivationProfile()->modeActivationConditions[i];
const box_t *box = &boxes[mac->modeId];
bstWrite8(box->permanentId);
bstWrite8(mac->auxChannelIndex);
@ -730,7 +730,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
break;
case BST_ADJUSTMENT_RANGES:
for (i = 0; i < MAX_ADJUSTMENT_RANGE_COUNT; i++) {
adjustmentRange_t *adjRange = &masterConfig.adjustmentRanges[i];
adjustmentRange_t *adjRange = &adjustmentProfile()->adjustmentRanges[i];
bstWrite8(adjRange->adjustmentIndex);
bstWrite8(adjRange->auxChannelIndex);
bstWrite8(adjRange->range.startStep);
@ -1056,7 +1056,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
case BST_SET_MODE_RANGE:
i = bstRead8();
if (i < MAX_MODE_ACTIVATION_CONDITION_COUNT) {
modeActivationCondition_t *mac = &masterConfig.modeActivationConditions[i];
modeActivationCondition_t *mac = &modeActivationProfile()->modeActivationConditions[i];
i = bstRead8();
const box_t *box = findBoxByPermenantId(i);
if (box) {
@ -1065,7 +1065,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
mac->range.startStep = bstRead8();
mac->range.endStep = bstRead8();
useRcControlsConfig(masterConfig.modeActivationConditions, &masterConfig.motorConfig, &currentProfile->pidProfile);
useRcControlsConfig(modeActivationProfile()->modeActivationConditions, &masterConfig.motorConfig, &currentProfile->pidProfile);
} else {
ret = BST_FAILED;
}
@ -1076,7 +1076,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
case BST_SET_ADJUSTMENT_RANGE:
i = bstRead8();
if (i < MAX_ADJUSTMENT_RANGE_COUNT) {
adjustmentRange_t *adjRange = &masterConfig.adjustmentRanges[i];
adjustmentRange_t *adjRange = &adjustmentProfile()->adjustmentRanges[i];
i = bstRead8();
if (i < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT) {
adjRange->adjustmentIndex = i;

16
src/main/target/MULTIFLITEPICO/config.c
View File

@ -57,14 +57,14 @@ void targetConfiguration(master_t *config)
config->rcControlsConfig.yaw_deadband = 2;
config->rcControlsConfig.deadband = 2;
config->modeActivationConditions[0].modeId = BOXANGLE;
config->modeActivationConditions[0].auxChannelIndex = AUX1 - NON_AUX_CHANNEL_COUNT;
config->modeActivationConditions[0].range.startStep = CHANNEL_VALUE_TO_STEP(900);
config->modeActivationConditions[0].range.endStep = CHANNEL_VALUE_TO_STEP(1400);
config->modeActivationConditions[1].modeId = BOXHORIZON;
config->modeActivationConditions[1].auxChannelIndex = AUX1 - NON_AUX_CHANNEL_COUNT;
config->modeActivationConditions[1].range.startStep = CHANNEL_VALUE_TO_STEP(1425);
config->modeActivationConditions[1].range.endStep = CHANNEL_VALUE_TO_STEP(1575);
config->modeActivationProfile.modeActivationConditions[0].modeId = BOXANGLE;
config->modeActivationProfile.modeActivationConditions[0].auxChannelIndex = AUX1 - NON_AUX_CHANNEL_COUNT;
config->modeActivationProfile.modeActivationConditions[0].range.startStep = CHANNEL_VALUE_TO_STEP(900);
config->modeActivationProfile.modeActivationConditions[0].range.endStep = CHANNEL_VALUE_TO_STEP(1400);
config->modeActivationProfile.modeActivationConditions[1].modeId = BOXHORIZON;
config->modeActivationProfile.modeActivationConditions[1].auxChannelIndex = AUX1 - NON_AUX_CHANNEL_COUNT;
config->modeActivationProfile.modeActivationConditions[1].range.startStep = CHANNEL_VALUE_TO_STEP(1425);
config->modeActivationProfile.modeActivationConditions[1].range.endStep = CHANNEL_VALUE_TO_STEP(1575);
config->failsafeConfig.failsafe_delay = 2;
config->failsafeConfig.failsafe_off_delay = 0;