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Port iNav's rangefinder

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This commit is contained in:
jflyper 2017-12-14 23:44:22 +09:00
parent 8a9fd29dd3
commit 11c47c631b
53 changed files with 898 additions and 492 deletions
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16
src/main/interface/cli.c
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@ -72,7 +72,7 @@ extern uint8_t __config_end;
#include "drivers/sensor.h"
#include "drivers/serial.h"
#include "drivers/serial_escserial.h"
#include "drivers/sonar_hcsr04.h"
#include "drivers/rangefinder/rangefinder_hcsr04.h"
#include "drivers/stack_check.h"
#include "drivers/system.h"
#include "drivers/transponder_ir.h"
@ -175,7 +175,7 @@ static const char * const mixerNames[] = {
static const char * const featureNames[] = {
"RX_PPM", "", "INFLIGHT_ACC_CAL", "RX_SERIAL", "MOTOR_STOP",
"SERVO_TILT", "SOFTSERIAL", "GPS", "",
"SONAR", "TELEMETRY", "", "3D", "RX_PARALLEL_PWM",
"RANGEFINDER", "TELEMETRY", "", "3D", "RX_PARALLEL_PWM",
"RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", "OSD",
"", "CHANNEL_FORWARDING", "TRANSPONDER", "AIRMODE",
"", "", "RX_SPI", "SOFTSPI", "ESC_SENSOR", "ANTI_GRAVITY", "DYNAMIC_FILTER", NULL
@ -192,13 +192,13 @@ static const rxFailsafeChannelMode_e rxFailsafeModesTable[RX_FAILSAFE_TYPE_COUNT
#if defined(USE_SENSOR_NAMES)
// sync this with sensors_e
static const char * const sensorTypeNames[] = {
"GYRO", "ACC", "BARO", "MAG", "SONAR", "GPS", "GPS+MAG", NULL
"GYRO", "ACC", "BARO", "MAG", "RANGEFINDER", "GPS", "GPS+MAG", NULL
};
#define SENSOR_NAMES_MASK (SENSOR_GYRO | SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
#define SENSOR_NAMES_MASK (SENSOR_GYRO | SENSOR_ACC | SENSOR_BARO | SENSOR_MAG | SENSOR_RANGEFINDER)
static const char * const *sensorHardwareNames[] = {
lookupTableGyroHardware, lookupTableAccHardware, lookupTableBaroHardware, lookupTableMagHardware
lookupTableGyroHardware, lookupTableAccHardware, lookupTableBaroHardware, lookupTableMagHardware, lookupTableRangefinderHardware
};
#endif // USE_SENSOR_NAMES
@ -2031,8 +2031,8 @@ static void cliFeature(char *cmdline)
break;
}
#endif
#ifndef USE_SONAR
if (mask & FEATURE_SONAR) {
#ifndef USE_RANGEFINDER
if (mask & FEATURE_RANGEFINDER) {
cliPrintLine("unavailable");
break;
}
@ -3166,7 +3166,7 @@ const cliResourceValue_t resourceTable[] = {
{ OWNER_PPMINPUT, PG_PPM_CONFIG, offsetof(ppmConfig_t, ioTag), 0 },
{ OWNER_PWMINPUT, PG_PWM_CONFIG, offsetof(pwmConfig_t, ioTags[0]), PWM_INPUT_PORT_COUNT },
#endif
#ifdef USE_SONAR
#ifdef USE_RANGEFINDER_HCSR04
{ OWNER_SONAR_TRIGGER, PG_SONAR_CONFIG, offsetof(sonarConfig_t, triggerTag), 0 },
{ OWNER_SONAR_ECHO, PG_SONAR_CONFIG, offsetof(sonarConfig_t, echoTag), 0 },
#endif