Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-15 20:35:33 +03:00
Code Issues Wiki Activity

Use constants for PWM ranges instead of the magic numbers 0, 1000 and

Browse source 
2000.
This commit is contained in:
Dominic Clifton 2014-04-18 20:41:49 +01:00
parent be6ce96e5d
commit 3c1b0b1998
3 changed files with 19 additions and 15 deletions
Download patch file Download diff file Expand all files Collapse all files

4
src/mw.c
View file

@ -119,8 +119,8 @@ void annexCode(void)
rcCommand[axis] = -rcCommand[axis]; rcCommand[axis] = -rcCommand[axis];
} }
tmp = constrain(rcData[THROTTLE], mcfg.rxConfig.mincheck, 2000); tmp = constrain(rcData[THROTTLE], mcfg.rxConfig.mincheck, PWM_RANGE_MAX);
tmp = (uint32_t)(tmp - mcfg.rxConfig.mincheck) * 1000 / (2000 - mcfg.rxConfig.mincheck); // [MINCHECK;2000] -> [0;1000] tmp = (uint32_t)(tmp - mcfg.rxConfig.mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - mcfg.rxConfig.mincheck); // [MINCHECK;2000] -> [0;1000]
tmp2 = tmp / 100; tmp2 = tmp / 100;
rcCommand[THROTTLE] = lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100; // [0;1000] -> expo -> [MINTHROTTLE;MAXTHROTTLE] rcCommand[THROTTLE] = lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100; // [0;1000] -> expo -> [MINTHROTTLE;MAXTHROTTLE]

4
src/rx_common.h
View file

@ -24,6 +24,10 @@ typedef enum rc_alias {
#define THR_CE (3 << (2 * THROTTLE)) #define THR_CE (3 << (2 * THROTTLE))
#define THR_HI (2 << (2 * THROTTLE)) #define THR_HI (2 << (2 * THROTTLE))
#define PWM_RANGE_ZERO 0 // FIXME should all usages of this be changed to use PWM_RANGE_MIN?
#define PWM_RANGE_MIN 1000
#define PWM_RANGE_MAX 2000
#define DEFAULT_SERVO_MIN 1020 #define DEFAULT_SERVO_MIN 1020
#define DEFAULT_SERVO_MIDDLE 1500 #define DEFAULT_SERVO_MIDDLE 1500
#define DEFAULT_SERVO_MAX 2000 #define DEFAULT_SERVO_MAX 2000

26
src/serial_cli.c
View file

@ -122,15 +122,15 @@ typedef struct {
const clivalue_t valueTable[] = { const clivalue_t valueTable[] = {
{ "looptime", VAR_UINT16, &mcfg.looptime, 0, 9000 }, { "looptime", VAR_UINT16, &mcfg.looptime, 0, 9000 },
{ "midrc", VAR_UINT16, &mcfg.rxConfig.midrc, 1200, 1700 }, { "midrc", VAR_UINT16, &mcfg.rxConfig.midrc, 1200, 1700 },
{ "minthrottle", VAR_UINT16, &mcfg.minthrottle, 0, 2000 }, { "minthrottle", VAR_UINT16, &mcfg.minthrottle, PWM_RANGE_ZERO, PWM_RANGE_MAX },
{ "maxthrottle", VAR_UINT16, &mcfg.maxthrottle, 0, 2000 }, { "maxthrottle", VAR_UINT16, &mcfg.maxthrottle, PWM_RANGE_ZERO, PWM_RANGE_MAX },
{ "mincommand", VAR_UINT16, &mcfg.mincommand, 0, 2000 }, { "mincommand", VAR_UINT16, &mcfg.mincommand, PWM_RANGE_ZERO, PWM_RANGE_MAX },
{ "mincheck", VAR_UINT16, &mcfg.rxConfig.mincheck, 0, 2000 }, { "mincheck", VAR_UINT16, &mcfg.rxConfig.mincheck, PWM_RANGE_ZERO, PWM_RANGE_MAX },
{ "maxcheck", VAR_UINT16, &mcfg.rxConfig.maxcheck, 0, 2000 }, { "maxcheck", VAR_UINT16, &mcfg.rxConfig.maxcheck, PWM_RANGE_ZERO, PWM_RANGE_MAX },
{ "deadband3d_low", VAR_UINT16, &mcfg.deadband3d_low, 0, 2000 }, { "deadband3d_low", VAR_UINT16, &mcfg.deadband3d_low, PWM_RANGE_ZERO, PWM_RANGE_MAX },
{ "deadband3d_high", VAR_UINT16, &mcfg.deadband3d_high, 0, 2000 }, { "deadband3d_high", VAR_UINT16, &mcfg.deadband3d_high, PWM_RANGE_ZERO, PWM_RANGE_MAX },
{ "neutral3d", VAR_UINT16, &mcfg.neutral3d, 0, 2000 }, { "neutral3d", VAR_UINT16, &mcfg.neutral3d, PWM_RANGE_ZERO, PWM_RANGE_MAX },
{ "deadband3d_throttle", VAR_UINT16, &mcfg.deadband3d_throttle, 0, 2000 }, { "deadband3d_throttle", VAR_UINT16, &mcfg.deadband3d_throttle, PWM_RANGE_ZERO, PWM_RANGE_MAX },
{ "motor_pwm_rate", VAR_UINT16, &mcfg.motor_pwm_rate, 50, 32000 }, { "motor_pwm_rate", VAR_UINT16, &mcfg.motor_pwm_rate, 50, 32000 },
{ "servo_pwm_rate", VAR_UINT16, &mcfg.servo_pwm_rate, 50, 498 }, { "servo_pwm_rate", VAR_UINT16, &mcfg.servo_pwm_rate, 50, 498 },
{ "retarded_arm", VAR_UINT8, &mcfg.retarded_arm, 0, 1 }, { "retarded_arm", VAR_UINT8, &mcfg.retarded_arm, 0, 1 },
@ -178,11 +178,11 @@ const clivalue_t valueTable[] = {
{ "roll_pitch_rate", VAR_UINT8, &cfg.controlRateConfig.rollPitchRate, 0, 100 }, { "roll_pitch_rate", VAR_UINT8, &cfg.controlRateConfig.rollPitchRate, 0, 100 },
{ "yawrate", VAR_UINT8, &cfg.controlRateConfig.yawRate, 0, 100 }, { "yawrate", VAR_UINT8, &cfg.controlRateConfig.yawRate, 0, 100 },
{ "tparate", VAR_UINT8, &cfg.dynThrPID, 0, 100}, { "tparate", VAR_UINT8, &cfg.dynThrPID, 0, 100},
{ "tpa_breakpoint", VAR_UINT16, &cfg.tpaBreakPoint, 1000, 2000}, { "tpa_breakpoint", VAR_UINT16, &cfg.tpaBreakPoint, PWM_RANGE_MIN, PWM_RANGE_MAX},
{ "failsafe_delay", VAR_UINT8, &cfg.failsafe_delay, 0, 200 }, { "failsafe_delay", VAR_UINT8, &cfg.failsafe_delay, 0, 200 },
{ "failsafe_off_delay", VAR_UINT8, &cfg.failsafe_off_delay, 0, 200 }, { "failsafe_off_delay", VAR_UINT8, &cfg.failsafe_off_delay, 0, 200 },
{ "failsafe_throttle", VAR_UINT16, &cfg.failsafe_throttle, 1000, 2000 }, { "failsafe_throttle", VAR_UINT16, &cfg.failsafe_throttle, PWM_RANGE_MIN, PWM_RANGE_MAX },
{ "failsafe_detect_threshold", VAR_UINT16, &cfg.failsafe_detect_threshold, 100, 2000 }, { "failsafe_detect_threshold", VAR_UINT16, &cfg.failsafe_detect_threshold, 100, PWM_RANGE_MAX },
{ "rssi_aux_channel", VAR_INT8, &mcfg.rssi_aux_channel, 0, 4 }, { "rssi_aux_channel", VAR_INT8, &mcfg.rssi_aux_channel, 0, 4 },
{ "yaw_direction", VAR_INT8, &cfg.yaw_direction, -1, 1 }, { "yaw_direction", VAR_INT8, &cfg.yaw_direction, -1, 1 },
{ "tri_unarmed_servo", VAR_INT8, &cfg.tri_unarmed_servo, 0, 1 }, { "tri_unarmed_servo", VAR_INT8, &cfg.tri_unarmed_servo, 0, 1 },
@ -811,7 +811,7 @@ static void cliMotor(char *cmdline)
return; return;
} }
if (motor_value < 1000 || motor_value > 2000) { if (motor_value < PWM_RANGE_MIN || motor_value > PWM_RANGE_MAX) {
printf("Invalid motor value, 1000..2000\r\n"); printf("Invalid motor value, 1000..2000\r\n");
return; return;
} }