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Added motorConfig() macro

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This commit is contained in:
Martin Budden 2016-11-30 11:44:29 +00:00
parent 55b32740d9
commit 6ccf11d518
8 changed files with 45 additions and 43 deletions
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26
src/main/fc/fc_msp.c
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@ -778,9 +778,9 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
case MSP_MISC:
sbufWriteU16(dst, masterConfig.rxConfig.midrc);
sbufWriteU16(dst, masterConfig.motorConfig.minthrottle);
sbufWriteU16(dst, masterConfig.motorConfig.maxthrottle);
sbufWriteU16(dst, masterConfig.motorConfig.mincommand);
sbufWriteU16(dst, motorConfig()->minthrottle);
sbufWriteU16(dst, motorConfig()->maxthrottle);
sbufWriteU16(dst, motorConfig()->mincommand);
sbufWriteU16(dst, masterConfig.failsafeConfig.failsafe_throttle);
@ -1088,9 +1088,9 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU8(dst, masterConfig.gyroConfig.gyro_sync_denom);
sbufWriteU8(dst, masterConfig.pid_process_denom);
}
sbufWriteU8(dst, masterConfig.motorConfig.useUnsyncedPwm);
sbufWriteU8(dst, masterConfig.motorConfig.motorPwmProtocol);
sbufWriteU16(dst, masterConfig.motorConfig.motorPwmRate);
sbufWriteU8(dst, motorConfig()->useUnsyncedPwm);
sbufWriteU8(dst, motorConfig()->motorPwmProtocol);
sbufWriteU16(dst, motorConfig()->motorPwmRate);
break;
case MSP_FILTER_CONFIG :
@ -1336,9 +1336,9 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
if (tmp < 1600 && tmp > 1400)
masterConfig.rxConfig.midrc = tmp;
masterConfig.motorConfig.minthrottle = sbufReadU16(src);
masterConfig.motorConfig.maxthrottle = sbufReadU16(src);
masterConfig.motorConfig.mincommand = sbufReadU16(src);
motorConfig()->minthrottle = sbufReadU16(src);
motorConfig()->maxthrottle = sbufReadU16(src);
motorConfig()->mincommand = sbufReadU16(src);
masterConfig.failsafeConfig.failsafe_throttle = sbufReadU16(src);
@ -1435,13 +1435,13 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_ADVANCED_CONFIG:
masterConfig.gyroConfig.gyro_sync_denom = sbufReadU8(src);
masterConfig.pid_process_denom = sbufReadU8(src);
masterConfig.motorConfig.useUnsyncedPwm = sbufReadU8(src);
motorConfig()->useUnsyncedPwm = sbufReadU8(src);
#ifdef USE_DSHOT
masterConfig.motorConfig.motorPwmProtocol = constrain(sbufReadU8(src), 0, PWM_TYPE_MAX - 1);
motorConfig()->motorPwmProtocol = constrain(sbufReadU8(src), 0, PWM_TYPE_MAX - 1);
#else
masterConfig.motorConfig.motorPwmProtocol = constrain(sbufReadU8(src), 0, PWM_TYPE_BRUSHED);
motorConfig()->motorPwmProtocol = constrain(sbufReadU8(src), 0, PWM_TYPE_BRUSHED);
#endif
masterConfig.motorConfig.motorPwmRate = sbufReadU16(src);
motorConfig()->motorPwmRate = sbufReadU16(src);
break;
case MSP_SET_FILTER_CONFIG: