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Preparation for conversion to parameter groups

This commit is contained in:
Martin Budden 2017-02-01 10:00:41 +00:00
parent 9828b7c444
commit e41d6a3b5b
11 changed files with 38 additions and 36 deletions
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8
src/main/fc/config.c
View File

@ -914,7 +914,7 @@ void activateConfig(void)
#endif
useFailsafeConfig(&masterConfig.failsafeConfig);
setAccelerationTrims(&accelerometerConfig()->accZero);
setAccelerationTrims(&accelerometerConfigMutable()->accZero);
setAccelerationFilter(accelerometerConfig()->acc_lpf_hz);
mixerUseConfigs(
@ -1083,13 +1083,13 @@ void validateAndFixGyroConfig(void)
samplingTime = 0.00003125;
// F1 and F3 can't handle high sample speed.
#if defined(STM32F1)
gyroConfig()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 16);
gyroConfigMutable()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 16);
#elif defined(STM32F3)
gyroConfig()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 4);
gyroConfigMutable()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 4);
#endif
} else {
#if defined(STM32F1)
gyroConfig()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 4);
gyroConfigMutable()->gyro_sync_denom = MAX(gyroConfig()->gyro_sync_denom, 4);
#endif
}

8
src/main/fc/fc_msp.c
View File

@ -1511,9 +1511,9 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
#else
motorConfigMutable()->motorPwmProtocol = constrain(sbufReadU8(src), 0, PWM_TYPE_BRUSHED);
#endif
motorConfig()->motorPwmRate = sbufReadU16(src);
motorConfigMutable()->motorPwmRate = sbufReadU16(src);
if (sbufBytesRemaining(src) >= 2) {
motorConfig()->digitalIdleOffsetPercent = sbufReadU16(src) / 100.0f;
motorConfigMutable()->digitalIdleOffsetPercent = sbufReadU16(src) / 100.0f;
}
if (sbufBytesRemaining(src)) {
gyroConfigMutable()->gyro_use_32khz = sbufReadU8(src);
@ -1525,7 +1525,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
validateAndFixGyroConfig();
if (sbufBytesRemaining(src)) {
motorConfig()->motorPwmInversion = sbufReadU8(src);
motorConfigMutable()->motorPwmInversion = sbufReadU8(src);
}
break;
@ -1812,7 +1812,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
rxConfigMutable()->rx_spi_rf_channel_count = sbufReadU8(src);
}
if (dataSize > 22) {
rxConfig()->fpvCamAngleDegrees = sbufReadU8(src);
rxConfigMutable()->fpvCamAngleDegrees = sbufReadU8(src);
}
break;

2
src/main/flight/imu.h
View File

@ -59,6 +59,8 @@ typedef struct throttleCorrectionConfig_s {
uint8_t throttle_correction_value; // the correction that will be applied at throttle_correction_angle.
} throttleCorrectionConfig_t;
PG_DECLARE(throttleCorrectionConfig_t, throttleCorrectionConfig);
typedef struct imuConfig_s {
uint16_t dcm_kp; // DCM filter proportional gain ( x 10000)
uint16_t dcm_ki; // DCM filter integral gain ( x 10000)

29
src/main/io/serial.c
View File

@ -45,7 +45,8 @@
#endif
#include "io/serial.h"
#include "fc/cli.h" // for cliEnter()
#include "fc/cli.h"
#include "msp/msp_serial.h"
@ -53,7 +54,7 @@
#include "telemetry/telemetry.h"
#endif
static serialConfig_t *serialConfig;
static const serialConfig_t *serialConfig;
static serialPortUsage_t serialPortUsageList[SERIAL_PORT_COUNT];
const serialPortIdentifier_e serialPortIdentifiers[SERIAL_PORT_COUNT] = {
@ -160,7 +161,7 @@ serialPortConfig_t *findSerialPortConfig(serialPortFunction_e function)
serialPortConfig_t *findNextSerialPortConfig(serialPortFunction_e function)
{
while (findSerialPortConfigState.lastIndex < SERIAL_PORT_COUNT) {
serialPortConfig_t *candidate = &serialConfig->portConfigs[findSerialPortConfigState.lastIndex++];
serialPortConfig_t *candidate = &serialConfigMutable()->portConfigs[findSerialPortConfigState.lastIndex++];
if (candidate->functionMask & function) {
return candidate;
@ -173,7 +174,7 @@ typedef struct findSharedSerialPortState_s {
uint8_t lastIndex;
} findSharedSerialPortState_t;
portSharing_e determinePortSharing(serialPortConfig_t *portConfig, serialPortFunction_e function)
portSharing_e determinePortSharing(const serialPortConfig_t *portConfig, serialPortFunction_e function)
{
if (!portConfig || (portConfig->functionMask & function) == 0) {
return PORTSHARING_UNUSED;
@ -181,7 +182,7 @@ portSharing_e determinePortSharing(serialPortConfig_t *portConfig, serialPortFun
return portConfig->functionMask == function ? PORTSHARING_NOT_SHARED : PORTSHARING_SHARED;
}
bool isSerialPortShared(serialPortConfig_t *portConfig, uint16_t functionMask, serialPortFunction_e sharedWithFunction)
bool isSerialPortShared(const serialPortConfig_t *portConfig, uint16_t functionMask, serialPortFunction_e sharedWithFunction)
{
return (portConfig) && (portConfig->functionMask & sharedWithFunction) && (portConfig->functionMask & functionMask);
}
@ -198,10 +199,10 @@ serialPort_t *findSharedSerialPort(uint16_t functionMask, serialPortFunction_e s
serialPort_t *findNextSharedSerialPort(uint16_t functionMask, serialPortFunction_e sharedWithFunction)
{
while (findSharedSerialPortState.lastIndex < SERIAL_PORT_COUNT) {
serialPortConfig_t *candidate = &serialConfig->portConfigs[findSharedSerialPortState.lastIndex++];
const serialPortConfig_t *candidate = &serialConfig()->portConfigs[findSharedSerialPortState.lastIndex++];
if (isSerialPortShared(candidate, functionMask, sharedWithFunction)) {
serialPortUsage_t *serialPortUsage = findSerialPortUsageByIdentifier(candidate->identifier);
const serialPortUsage_t *serialPortUsage = findSerialPortUsageByIdentifier(candidate->identifier);
if (!serialPortUsage) {
continue;
}
@ -218,7 +219,7 @@ serialPort_t *findNextSharedSerialPort(uint16_t functionMask, serialPortFunction
#define ALL_FUNCTIONS_SHARABLE_WITH_MSP (FUNCTION_BLACKBOX)
#endif
bool isSerialConfigValid(serialConfig_t *serialConfigToCheck)
bool isSerialConfigValid(const serialConfig_t *serialConfigToCheck)
{
UNUSED(serialConfigToCheck);
/*
@ -232,9 +233,8 @@ bool isSerialConfigValid(serialConfig_t *serialConfigToCheck)
*/
uint8_t mspPortCount = 0;
uint8_t index;
for (index = 0; index < SERIAL_PORT_COUNT; index++) {
serialPortConfig_t *portConfig = &serialConfigToCheck->portConfigs[index];
for (int index = 0; index < SERIAL_PORT_COUNT; index++) {
const serialPortConfig_t *portConfig = &serialConfigToCheck->portConfigs[index];
if (portConfig->functionMask & FUNCTION_MSP) {
mspPortCount++;
@ -268,9 +268,8 @@ bool isSerialConfigValid(serialConfig_t *serialConfigToCheck)
serialPortConfig_t *serialFindPortConfiguration(serialPortIdentifier_e identifier)
{
uint8_t index;
for (index = 0; index < SERIAL_PORT_COUNT; index++) {
serialPortConfig_t *candidate = &serialConfig->portConfigs[index];
for (int index = 0; index < SERIAL_PORT_COUNT; index++) {
serialPortConfig_t *candidate = &serialConfigMutable()->portConfigs[index];
if (candidate->identifier == identifier) {
return candidate;
}
@ -397,7 +396,7 @@ void closeSerialPort(serialPort_t *serialPort)
serialPortUsage->serialPort = NULL;
}
void serialInit(serialConfig_t *initialSerialConfig, bool softserialEnabled, serialPortIdentifier_e serialPortToDisable)
void serialInit(const serialConfig_t *initialSerialConfig, bool softserialEnabled, serialPortIdentifier_e serialPortToDisable)
{
uint8_t index;

11
src/main/io/serial.h
View File

@ -17,6 +17,9 @@
#pragma once
#include <stdint.h>
#include <stdbool.h>
#include "config/parameter_group.h"
#include "drivers/serial.h"
@ -119,18 +122,18 @@ typedef void serialConsumer(uint8_t);
//
// configuration
//
void serialInit(serialConfig_t *initialSerialConfig, bool softserialEnabled, serialPortIdentifier_e serialPortToDisable);
void serialInit(const serialConfig_t *initialSerialConfig, bool softserialEnabled, serialPortIdentifier_e serialPortToDisable);
void serialRemovePort(serialPortIdentifier_e identifier);
uint8_t serialGetAvailablePortCount(void);
bool serialIsPortAvailable(serialPortIdentifier_e identifier);
bool isSerialConfigValid(serialConfig_t *serialConfig);
bool isSerialConfigValid(const serialConfig_t *serialConfig);
serialPortConfig_t *serialFindPortConfiguration(serialPortIdentifier_e identifier);
bool doesConfigurationUsePort(serialPortIdentifier_e portIdentifier);
serialPortConfig_t *findSerialPortConfig(serialPortFunction_e function);
serialPortConfig_t *findNextSerialPortConfig(serialPortFunction_e function);
portSharing_e determinePortSharing(serialPortConfig_t *portConfig, serialPortFunction_e function);
bool isSerialPortShared(serialPortConfig_t *portConfig, uint16_t functionMask, serialPortFunction_e sharedWithFunction);
portSharing_e determinePortSharing(const serialPortConfig_t *portConfig, serialPortFunction_e function);
bool isSerialPortShared(const serialPortConfig_t *portConfig, uint16_t functionMask, serialPortFunction_e sharedWithFunction);
serialPortUsage_t *findSerialPortUsageByIdentifier(serialPortIdentifier_e identifier);
int findSerialPortIndexByIdentifier(serialPortIdentifier_e identifier);

4
src/main/sensors/battery.c
View File

@ -69,7 +69,7 @@ int32_t amperageLatest = 0; // most recent value
int32_t mAhDrawn = 0; // milliampere hours drawn from the battery since start
#ifndef USE_PARAMETER_GROUPS
batteryConfig_t *batteryConfig;
const batteryConfig_t *batteryConfig;
#endif
static batteryState_e vBatState;
@ -213,7 +213,7 @@ const char * getBatteryStateString(void)
return batteryStateStrings[getBatteryState()];
}
void batteryInit(batteryConfig_t *initialBatteryConfig)
void batteryInit(const batteryConfig_t *initialBatteryConfig)
{
#ifndef USE_PARAMETER_GROUPS
(void)initialBatteryConfig;

4
src/main/sensors/battery.h
View File

@ -81,13 +81,13 @@ extern int32_t amperageLatest;
extern int32_t amperage;
extern int32_t mAhDrawn;
#ifndef USE_PARAMETER_GROUPS
extern batteryConfig_t *batteryConfig;
extern const batteryConfig_t *batteryConfig;
#endif
batteryState_e getBatteryState(void);
const char * getBatteryStateString(void);
void updateBattery(void);
void batteryInit(batteryConfig_t *initialBatteryConfig);
void batteryInit(const batteryConfig_t *initialBatteryConfig);
struct rxConfig_s;
void updateCurrentMeter(int32_t lastUpdateAt, const struct rxConfig_s *rxConfig, uint16_t deadband3d_throttle);

2
src/test/unit/cms_unittest.cc
View File

@ -26,7 +26,7 @@
#define BARO
extern "C" {
#include "platform.h""
#include "platform.h"
#include "target.h"
#include "drivers/display.h"
#include "cms/cms.h"

2
src/test/unit/target.h
View File

@ -56,8 +56,6 @@
#define SERIAL_PORT_COUNT 8
#define MAX_SIMULTANEOUS_ADJUSTMENT_COUNT 6
#define TARGET_BOARD_IDENTIFIER "TEST"
#define LED_STRIP_TIMER 1

2
src/test/unit/telemetry_crsf_unittest.cc
View File

@ -306,7 +306,7 @@ serialPortConfig_t *findSerialPortConfig(serialPortFunction_e) {return NULL;}
bool telemetryDetermineEnabledState(portSharing_e) {return true;}
bool telemetryCheckRxPortShared(const serialPortConfig_t *) {return true;}
portSharing_e determinePortSharing(serialPortConfig_t *, serialPortFunction_e) {return PORTSHARING_NOT_SHARED;}
portSharing_e determinePortSharing(const serialPortConfig_t *, serialPortFunction_e) {return PORTSHARING_NOT_SHARED;}
uint8_t batteryCapacityRemainingPercentage(void) {return 67;}
uint8_t calculateBatteryCapacityRemainingPercentage(void) {return 67;}

2
src/test/unit/telemetry_hott_unittest.cc
View File

@ -252,7 +252,7 @@ bool telemetryDetermineEnabledState(portSharing_e)
return true;
}
portSharing_e determinePortSharing(serialPortConfig_t *, serialPortFunction_e)
portSharing_e determinePortSharing(const serialPortConfig_t *, serialPortFunction_e)
{
return PORTSHARING_NOT_SHARED;
}