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Remove flight_mixer.c's dependency on mw.h/board.h.

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This is a large commit, from the commit it is clear that the mixer has
many dependencies, this is expected since it is central to the
application.

To achieve the decoupling many master config and profile members had to
be moved into structures.

Relocated throttle/pitch curves into rc_curves.c/h since it has nothing
to with rx code, this fixed the dependencies inside the rx provider
files.
This commit is contained in:
Dominic Clifton 2014-04-24 00:15:47 +01:00
parent bb91b1f560
commit 695db3523a
25 changed files with 287 additions and 165 deletions
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9
src/main.c
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@ -24,6 +24,7 @@
#include "failsafe.h"
#include "gps_common.h"
#include "escservo.h"
#include "rc_controls.h"
#include "rx_common.h"
#include "gimbal.h"
@ -89,7 +90,7 @@ int main(void)
// We have these sensors; SENSORS_SET defined in board.h depending on hardware platform
sensorsSet(SENSORS_SET);
mixerInit();
mixerInit(masterConfig.mixerConfiguration, masterConfig.customMixer);
// when using airplane/wing mixer, servo/motor outputs are remapped
if (masterConfig.mixerConfiguration == MULTITYPE_AIRPLANE || masterConfig.mixerConfiguration == MULTITYPE_FLYING_WING)
pwm_params.airplane = true;
@ -100,12 +101,12 @@ int main(void)
pwm_params.usePPM = feature(FEATURE_PPM);
pwm_params.enableInput = !feature(FEATURE_SERIALRX); // disable inputs if using spektrum
pwm_params.useServos = isMixerUsingServos();
pwm_params.extraServos = currentProfile.gimbal_flags & GIMBAL_FORWARDAUX;
pwm_params.extraServos = currentProfile.gimbalConfig.gimbal_flags & GIMBAL_FORWARDAUX;
pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
pwm_params.servoPwmRate = masterConfig.servo_pwm_rate;
pwm_params.idlePulse = PULSE_1MS; // standard PWM for brushless ESC (default, overridden below)
if (feature(FEATURE_3D))
pwm_params.idlePulse = masterConfig.neutral3d;
pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
if (pwm_params.motorPwmRate > 500)
pwm_params.idlePulse = 0; // brushed motors
pwm_params.servoCenterPulse = masterConfig.rxConfig.midrc;
@ -234,6 +235,6 @@ int main(void)
void HardFault_Handler(void)
{
// fall out of the sky
writeAllMotors(masterConfig.mincommand);
writeAllMotors(masterConfig.escAndServoConfig.mincommand);
while (1);
}