Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-19 14:25:20 +03:00
Code Issues Wiki Activity

CF/BF - First cut of Current/Voltage/Battery cleanup.

Browse source 
many refactorings, bugs squished, concerns separated,
single-responsibility violations fixed and performance optimizations.
This commit is contained in:
Hydra 2017-03-12 11:26:30 +00:00 • committed by Dominic Clifton
parent b46e0fe46d
commit 067d3c0ac2
69 changed files with 1178 additions and 514 deletions
Download patch file Download diff file Expand all files Collapse all files

37
src/main/fc/cli.c
View file

@ -249,7 +249,7 @@ static const char * const lookupTableCurrentSensor[] = {
};
static const char * const lookupTableBatterySensor[] = {
"ADC", "ESC"
"NONE", "ADC", "ESC"
};
#ifdef USE_SERVOS
@ -339,7 +339,7 @@ static const char * const lookupTableSuperExpoYaw[] = {
static const char * const lookupTablePwmProtocol[] = {
"OFF", "ONESHOT125", "ONESHOT42", "MULTISHOT", "BRUSHED",
#ifdef USE_DSHOT
"DSHOT150", "DSHOT300", "DSHOT600", "DSHOT1200",
"DSHOT150", "DSHOT300", "DSHOT600", "DSHOT1200"
#endif
};
@ -375,8 +375,8 @@ typedef enum {
#ifdef BLACKBOX
TABLE_BLACKBOX_DEVICE,
#endif
TABLE_CURRENT_SENSOR,
TABLE_BATTERY_SENSOR,
TABLE_CURRENT_METER,
TABLE_VOLTAGE_METER,
#ifdef USE_SERVOS
TABLE_GIMBAL_MODE,
#endif
@ -622,21 +622,26 @@ static const clivalue_t valueTable[] = {
// PG_BATTERY_CONFIG
{ "bat_capacity", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 20000 }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, batteryCapacity) },
{ "vbat_scale", VAR_UINT8 | MASTER_VALUE, .config.minmax = { VBAT_SCALE_MIN, VBAT_SCALE_MAX }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, vbatscale) },
{ "vbat_max_cell_voltage", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 10, 50 }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, vbatmaxcellvoltage) },
{ "vbat_min_cell_voltage", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 10, 50 }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, vbatmincellvoltage) },
{ "vbat_warning_cell_voltage", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 10, 50 }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, vbatwarningcellvoltage) },
{ "vbat_hysteresis", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 250 }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, vbathysteresis) },
{ "ibat_scale", VAR_INT16 | MASTER_VALUE, .config.minmax = { -16000, 16000 }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, currentMeterScale) },
{ "ibat_offset", VAR_INT16 | MASTER_VALUE, .config.minmax = { -16000, 16000 }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, currentMeterOffset) },
{ "mwii_ibat_output", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, multiwiiCurrentMeterOutput) },
{ "current_meter_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_CURRENT_SENSOR }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, currentMeterType) },
{ "battery_meter_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BATTERY_SENSOR }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, batteryMeterType) },
{ "bat_detect_thresh", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 200 }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, batterynotpresentlevel) },
{ "current_meter", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_CURRENT_METER }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, currentMeterSource) },
{ "battery_meter", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_VOLTAGE_METER }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, voltageMeterSource) },
{ "bat_detect_thresh", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 200 }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, batteryNotPresentLevel) },
{ "use_vbat_alerts", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, useVBatAlerts) },
{ "use_cbat_alerts", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, useConsumptionAlerts) },
{ "cbat_alert_percent", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 100 }, PG_BATTERY_CONFIG, offsetof(batteryConfig_t, consumptionWarningPercentage) },
// PG_VOLTAGE_SENSOR_ADC_CONFIG
{ "vbat_scale", VAR_UINT8 | MASTER_VALUE, .config.minmax = { VBAT_SCALE_MIN, VBAT_SCALE_MAX }, PG_VOLTAGE_SENSOR_ADC_CONFIG, offsetof(voltageSensorADCConfig_t, vbatscale) },
// PG_CURRENT_SENSOR_ADC_OR_VIRTUAL_CONFIG
// FIXME this will only allow configuration of the FIRST current meter. there are currently two
{ "ibat_scale", VAR_INT16 | MASTER_VALUE, .config.minmax = { -16000, 16000 }, PG_CURRENT_SENSOR_ADC_OR_VIRTUAL_CONFIG, offsetof(currentMeterADCOrVirtualConfig_t, scale) },
{ "ibat_offset", VAR_INT16 | MASTER_VALUE, .config.minmax = { -16000, 16000 }, PG_CURRENT_SENSOR_ADC_OR_VIRTUAL_CONFIG, offsetof(currentMeterADCOrVirtualConfig_t, offset) },
// PG_BEEPER_DEV_CONFIG
#ifdef BEEPER
{ "beeper_inversion", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_BEEPER_DEV_CONFIG, offsetof(beeperDevConfig_t, isInverted) },
@ -3739,7 +3744,7 @@ static void cliStatus(char *cmdline)
UNUSED(cmdline);
cliPrintf("System Uptime: %d seconds\r\n", millis() / 1000);
cliPrintf("Voltage: %d * 0.1V (%dS battery - %s)\r\n", getVbat(), batteryCellCount, getBatteryStateString());
cliPrintf("Voltage: %d * 0.1V (%dS battery - %s)\r\n", getBatteryVoltage(), getBatteryCellCount(), getBatteryStateString());
cliPrintf("CPU Clock=%dMHz", (SystemCoreClock / 1000000));
@ -3800,7 +3805,7 @@ static void cliTasks(char *cmdline)
#ifndef MINIMAL_CLI
if (systemConfig()->task_statistics) {
cliPrintf("Task list rate/hz max/us avg/us maxload avgload total/ms\r\n");
cliPrintf("Task list rate/hz max/us avg/us maxload avgload total/ms\r\n");
} else {
cliPrintf("Task list\r\n");
}
@ -3815,14 +3820,14 @@ static void cliTasks(char *cmdline)
subTaskFrequency = taskInfo.latestDeltaTime == 0 ? 0 : (int)(1000000.0f / ((float)taskInfo.latestDeltaTime));
taskFrequency = subTaskFrequency / pidConfig()->pid_process_denom;
if (pidConfig()->pid_process_denom > 1) {
cliPrintf("%02d - (%13s) ", taskId, taskInfo.taskName);
cliPrintf("%02d - (%15s) ", taskId, taskInfo.taskName);
} else {
taskFrequency = subTaskFrequency;
cliPrintf("%02d - (%9s/%3s) ", taskId, taskInfo.subTaskName, taskInfo.taskName);
cliPrintf("%02d - (%11s/%3s) ", taskId, taskInfo.subTaskName, taskInfo.taskName);
}
} else {
taskFrequency = taskInfo.latestDeltaTime == 0 ? 0 : (int)(1000000.0f / ((float)taskInfo.latestDeltaTime));
cliPrintf("%02d - (%13s) ", taskId, taskInfo.taskName);
cliPrintf("%02d - (%15s) ", taskId, taskInfo.taskName);
}
const int maxLoad = taskInfo.maxExecutionTime == 0 ? 0 :(taskInfo.maxExecutionTime * taskFrequency + 5000) / 1000;
const int averageLoad = taskInfo.averageExecutionTime == 0 ? 0 : (taskInfo.averageExecutionTime * taskFrequency + 5000) / 1000;
@ -3838,7 +3843,7 @@ static void cliTasks(char *cmdline)
cliPrintf("%6d\r\n", taskFrequency);
}
if (taskId == TASK_GYROPID && pidConfig()->pid_process_denom > 1) {
cliPrintf(" - (%13s) %6d\r\n", taskInfo.subTaskName, subTaskFrequency);
cliPrintf(" - (%15s) %6d\r\n", taskInfo.subTaskName, subTaskFrequency);
}
}
}