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CF/BF - First cut of Current/Voltage/Battery cleanup.
many refactorings, bugs squished, concerns separated, single-responsibility violations fixed and performance optimizations.
This commit is contained in:
Hydra
Dominic Clifton
parent
b46e0fe46d
commit
067d3c0ac2
69 changed files with 1178 additions and 514 deletions
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@ -727,16 +727,18 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
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#endif
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break;
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case MSP_ANALOG:
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sbufWriteU8(dst, (uint8_t)constrain(getVbat(), 0, 255));
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sbufWriteU16(dst, (uint16_t)constrain(mAhDrawn, 0, 0xFFFF)); // milliamp hours drawn from battery
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case MSP_ANALOG: {
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sbufWriteU8(dst, (uint8_t)constrain(getBatteryVoltage(), 0, 255));
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sbufWriteU16(dst, (uint16_t)constrain(getMAhDrawn(), 0, 0xFFFF)); // milliamp hours drawn from battery
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sbufWriteU16(dst, rssi);
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if(batteryConfig()->multiwiiCurrentMeterOutput) {
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sbufWriteU16(dst, (uint16_t)constrain(amperage * 10, 0, 0xFFFF)); // send amperage in 0.001 A steps. Negative range is truncated to zero
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} else
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sbufWriteU16(dst, (int16_t)constrain(amperage, -0x8000, 0x7FFF)); // send amperage in 0.01 A steps, range is -320A to 320A
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break;
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if(batteryConfig()->multiwiiCurrentMeterOutput) {
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sbufWriteU16(dst, (uint16_t)constrain(getAmperage() * 10, 0, 0xFFFF)); // send current in 0.001 A steps. Negative range is truncated to zero
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} else
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sbufWriteU16(dst, (int16_t)constrain(getAmperage(), -0x8000, 0x7FFF)); // send current in 0.01 A steps, range is -320A to 320A
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break;
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}
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case MSP_ARMING_CONFIG:
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sbufWriteU8(dst, armingConfig()->auto_disarm_delay);
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sbufWriteU8(dst, armingConfig()->disarm_kill_switch);
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@ -839,7 +841,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
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sbufWriteU16(dst, compassConfig()->mag_declination / 10);
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sbufWriteU8(dst, batteryConfig()->vbatscale);
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sbufWriteU8(dst, 0); // batteryConfig()->vbatscale
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sbufWriteU8(dst, batteryConfig()->vbatmincellvoltage);
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sbufWriteU8(dst, batteryConfig()->vbatmaxcellvoltage);
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sbufWriteU8(dst, batteryConfig()->vbatwarningcellvoltage);
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@ -912,18 +914,40 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
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break;
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case MSP_VOLTAGE_METER_CONFIG:
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sbufWriteU8(dst, batteryConfig()->vbatscale);
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sbufWriteU8(dst, batteryConfig()->vbatmincellvoltage);
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sbufWriteU8(dst, batteryConfig()->vbatmaxcellvoltage);
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sbufWriteU8(dst, batteryConfig()->vbatwarningcellvoltage);
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sbufWriteU8(dst, batteryConfig()->batteryMeterType);
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BUILD_BUG_ON(VOLTAGE_SENSOR_ADC_VBAT != 0);
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sbufWriteU8(dst, MAX_VOLTAGE_SENSOR_ADC); // voltage meters in payload
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for (int i = VOLTAGE_SENSOR_ADC_VBAT; i < MAX_VOLTAGE_SENSOR_ADC; i++) {
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// note, by indicating a sensor type and a sub-frame length it's possible to configure any type of voltage meter, i.e. all sensors not built directly into the FC such as ESC/RX/SPort/SBus
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sbufWriteU8(dst, VOLTAGE_SENSOR_TYPE_ADC_RESISTOR_DIVIDER); // indicate the type of sensor that the next part of the payload is for
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sbufWriteU8(dst, 3); // ADC sensor sub-frame length
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sbufWriteU8(dst, voltageSensorADCConfig(i)->vbatscale);
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sbufWriteU8(dst, voltageSensorADCConfig(i)->vbatresdivval);
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sbufWriteU8(dst, voltageSensorADCConfig(i)->vbatresdivmultiplier);
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}
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// if we had any other voltage sensors, this is where we would output any needed configuration
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break;
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case MSP_CURRENT_METER_CONFIG:
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sbufWriteU16(dst, batteryConfig()->currentMeterScale);
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sbufWriteU16(dst, batteryConfig()->currentMeterOffset);
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sbufWriteU8(dst, batteryConfig()->currentMeterType);
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BUILD_BUG_ON(CURRENT_SENSOR_VIRTUAL != 0);
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BUILD_BUG_ON(CURRENT_SENSOR_ADC != 1);
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sbufWriteU8(dst, MAX_ADC_OR_VIRTUAL_CURRENT_METERS); // current meters in payload
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for (int i = CURRENT_SENSOR_VIRTUAL; i < MAX_ADC_OR_VIRTUAL_CURRENT_METERS; i++) {
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sbufWriteU8(dst, i); // indicate the type of sensor that the next part of the payload is for
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sbufWriteU8(dst, 4); // ADC or Virtual sensor sub-frame length
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sbufWriteU16(dst, currentMeterADCOrVirtualConfig(i)->scale);
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sbufWriteU16(dst, currentMeterADCOrVirtualConfig(i)->offset);
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}
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// if we had any other current sensors, this is where we would output any needed configuration
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break;
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case MSP_BATTERY_CONFIG:
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sbufWriteU8(dst, batteryConfig()->vbatmincellvoltage);
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sbufWriteU8(dst, batteryConfig()->vbatmaxcellvoltage);
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sbufWriteU8(dst, batteryConfig()->vbatwarningcellvoltage);
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sbufWriteU16(dst, batteryConfig()->batteryCapacity);
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sbufWriteU8(dst, batteryConfig()->voltageMeterSource);
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sbufWriteU8(dst, batteryConfig()->currentMeterSource);
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break;
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case MSP_MIXER:
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@ -982,8 +1006,8 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
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sbufWriteU16(dst, boardAlignment()->pitchDegrees);
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sbufWriteU16(dst, boardAlignment()->yawDegrees);
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sbufWriteU16(dst, batteryConfig()->currentMeterScale);
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sbufWriteU16(dst, batteryConfig()->currentMeterOffset);
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sbufWriteU16(dst, 0); // was currentMeterScale, see MSP_CURRENT_METER_CONFIG
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sbufWriteU16(dst, 0); //was currentMeterOffset, see MSP_CURRENT_METER_CONFIG
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break;
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case MSP_CF_SERIAL_CONFIG:
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@ -1417,7 +1441,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
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compassConfigMutable()->mag_declination = sbufReadU16(src) * 10;
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batteryConfigMutable()->vbatscale = sbufReadU8(src); // actual vbatscale as intended
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sbufReadU8(src); // actual vbatscale as intended // was batteryConfigMutable()->vbatscale
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batteryConfigMutable()->vbatmincellvoltage = sbufReadU8(src); // vbatlevel_warn1 in MWC2.3 GUI
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batteryConfigMutable()->vbatmaxcellvoltage = sbufReadU8(src); // vbatlevel_warn2 in MWC2.3 GUI
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batteryConfigMutable()->vbatwarningcellvoltage = sbufReadU8(src); // vbatlevel when buzzer starts to alert
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@ -1756,21 +1780,48 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
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boardAlignmentMutable()->yawDegrees = sbufReadU16(src);
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break;
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case MSP_SET_VOLTAGE_METER_CONFIG:
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batteryConfigMutable()->vbatscale = sbufReadU8(src); // actual vbatscale as intended
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batteryConfigMutable()->vbatmincellvoltage = sbufReadU8(src); // vbatlevel_warn1 in MWC2.3 GUI
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batteryConfigMutable()->vbatmaxcellvoltage = sbufReadU8(src); // vbatlevel_warn2 in MWC2.3 GUI
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batteryConfigMutable()->vbatwarningcellvoltage = sbufReadU8(src); // vbatlevel when buzzer starts to alert
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if (dataSize > 4) {
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batteryConfigMutable()->batteryMeterType = sbufReadU8(src);
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case MSP_SET_VOLTAGE_METER_CONFIG: {
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int sensor = sbufReadU8(src);
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if (sensor != VOLTAGE_METER_ADC) {
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return -1;
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}
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break;
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case MSP_SET_CURRENT_METER_CONFIG:
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batteryConfigMutable()->currentMeterScale = sbufReadU16(src);
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batteryConfigMutable()->currentMeterOffset = sbufReadU16(src);
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batteryConfigMutable()->currentMeterType = sbufReadU8(src);
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int index = sbufReadU8(src);
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if (index >= MAX_VOLTAGE_SENSOR_ADC) {
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return -1;
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}
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voltageSensorADCConfigMutable(index)->vbatscale = sbufReadU8(src);
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voltageSensorADCConfigMutable(index)->vbatresdivval = sbufReadU8(src);
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voltageSensorADCConfigMutable(index)->vbatresdivmultiplier = sbufReadU8(src);
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break;
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}
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case MSP_SET_CURRENT_METER_CONFIG: {
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int sensor = sbufReadU8(src);
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if (sensor != CURRENT_SENSOR_VIRTUAL || sensor != CURRENT_SENSOR_ADC) {
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return -1;
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}
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int index = sbufReadU8(src);
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if (index >= MAX_ADC_OR_VIRTUAL_CURRENT_METERS) {
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return -1;
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}
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currentMeterADCOrVirtualConfigMutable(index)->scale = sbufReadU16(src);
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currentMeterADCOrVirtualConfigMutable(index)->offset = sbufReadU16(src);
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break;
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}
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case MSP_SET_BATTERY_CONFIG:
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batteryConfigMutable()->vbatmincellvoltage = sbufReadU8(src); // vbatlevel_warn1 in MWC2.3 GUI
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batteryConfigMutable()->vbatmaxcellvoltage = sbufReadU8(src); // vbatlevel_warn2 in MWC2.3 GUI
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batteryConfigMutable()->vbatwarningcellvoltage = sbufReadU8(src); // vbatlevel when buzzer starts to alert
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batteryConfigMutable()->batteryCapacity = sbufReadU16(src);
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batteryConfigMutable()->voltageMeterSource = sbufReadU8(src);
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batteryConfigMutable()->currentMeterSource = sbufReadU8(src);
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break;
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#ifndef USE_QUAD_MIXER_ONLY
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@ -1849,8 +1900,8 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
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boardAlignmentMutable()->pitchDegrees = sbufReadU16(src); // board_align_pitch
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boardAlignmentMutable()->yawDegrees = sbufReadU16(src); // board_align_yaw
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batteryConfigMutable()->currentMeterScale = sbufReadU16(src);
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batteryConfigMutable()->currentMeterOffset = sbufReadU16(src);
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sbufReadU16(src); // was currentMeterScale, see MSP_SET_CURRENT_METER_CONFIG
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sbufReadU16(src); // was currentMeterOffset see MSP_SET_CURRENT_METER_CONFIG
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break;
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case MSP_SET_CF_SERIAL_CONFIG:
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