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Code Issues Wiki Activity

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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16
src/main/blackbox/blackbox.c
View file

@ -495,7 +495,7 @@ static void writeIntraframe(void)
* Write the throttle separately from the rest of the RC data so we can apply a predictor to it.
* Throttle lies in range [minthrottle..maxthrottle]:
*/
blackboxWriteUnsignedVB(blackboxCurrent->rcCommand[THROTTLE] - masterConfig.motorConfig.minthrottle);
blackboxWriteUnsignedVB(blackboxCurrent->rcCommand[THROTTLE] - motorConfig()->minthrottle);
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT)) {
/*
@ -539,7 +539,7 @@ static void writeIntraframe(void)
blackboxWriteSigned16VBArray(blackboxCurrent->debug, 4);
//Motors can be below minthrottle when disarmed, but that doesn't happen much
blackboxWriteUnsignedVB(blackboxCurrent->motor[0] - masterConfig.motorConfig.minthrottle);
blackboxWriteUnsignedVB(blackboxCurrent->motor[0] - motorConfig()->minthrottle);
//Motors tend to be similar to each other so use the first motor's value as a predictor of the others
for (x = 1; x < motorCount; x++) {
@ -904,7 +904,7 @@ bool inMotorTestMode(void) {
inactiveMotorCommand = DSHOT_DISARM_COMMAND;
#endif
} else {
inactiveMotorCommand = masterConfig.motorConfig.mincommand;
inactiveMotorCommand = motorConfig()->mincommand;
}
int i;
@ -1173,8 +1173,8 @@ static bool blackboxWriteSysinfo()
BLACKBOX_PRINT_HEADER_LINE("Firmware date:%s %s", buildDate, buildTime);
BLACKBOX_PRINT_HEADER_LINE("Craft name:%s", masterConfig.name);
BLACKBOX_PRINT_HEADER_LINE("P interval:%d/%d", masterConfig.blackboxConfig.rate_num, masterConfig.blackboxConfig.rate_denom);
BLACKBOX_PRINT_HEADER_LINE("minthrottle:%d", masterConfig.motorConfig.minthrottle);
BLACKBOX_PRINT_HEADER_LINE("maxthrottle:%d", masterConfig.motorConfig.maxthrottle);
BLACKBOX_PRINT_HEADER_LINE("minthrottle:%d", motorConfig()->minthrottle);
BLACKBOX_PRINT_HEADER_LINE("maxthrottle:%d", motorConfig()->maxthrottle);
BLACKBOX_PRINT_HEADER_LINE("gyro.scale:0x%x", castFloatBytesToInt(gyro.scale));
BLACKBOX_PRINT_HEADER_LINE("acc_1G:%u", acc.acc_1G);
@ -1278,9 +1278,9 @@ static bool blackboxWriteSysinfo()
BLACKBOX_PRINT_HEADER_LINE("rc_interpolation_interval:%d", masterConfig.rxConfig.rcInterpolationInterval);
BLACKBOX_PRINT_HEADER_LINE("airmode_activate_throttle:%d", masterConfig.rxConfig.airModeActivateThreshold);
BLACKBOX_PRINT_HEADER_LINE("serialrx_provider:%d", masterConfig.rxConfig.serialrx_provider);
BLACKBOX_PRINT_HEADER_LINE("unsynced_fast_pwm:%d", masterConfig.motorConfig.useUnsyncedPwm);
BLACKBOX_PRINT_HEADER_LINE("fast_pwm_protocol:%d", masterConfig.motorConfig.motorPwmProtocol);
BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate:%d", masterConfig.motorConfig.motorPwmRate);
BLACKBOX_PRINT_HEADER_LINE("unsynced_fast_pwm:%d", motorConfig()->useUnsyncedPwm);
BLACKBOX_PRINT_HEADER_LINE("fast_pwm_protocol:%d", motorConfig()->motorPwmProtocol);
BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate:%d", motorConfig()->motorPwmRate);
BLACKBOX_PRINT_HEADER_LINE("debug_mode:%d", masterConfig.debug_mode);
BLACKBOX_PRINT_HEADER_LINE("features:%d", masterConfig.enabledFeatures);

2
src/main/cms/cms_menu_misc.c
View file

@ -83,7 +83,7 @@ static OSD_Entry menuMiscEntries[]=
{
{ "-- MISC --", OME_Label, NULL, NULL, 0 },
{ "MIN THR", OME_UINT16, NULL, &(OSD_UINT16_t){ &masterConfig.motorConfig.minthrottle, 1000, 2000, 1 }, 0 },
{ "MIN THR", OME_UINT16, NULL, &(OSD_UINT16_t){ &motorConfig()->minthrottle, 1000, 2000, 1 }, 0 },
{ "VBAT SCALE", OME_UINT8, NULL, &(OSD_UINT8_t) { &masterConfig.batteryConfig.vbatscale, 1, 250, 1 }, 0 },
{ "VBAT CLMAX", OME_UINT8, NULL, &(OSD_UINT8_t) { &masterConfig.batteryConfig.vbatmaxcellvoltage, 10, 50, 1 }, 0 },
{ "RC PREV", OME_Submenu, cmsMenuChange, &cmsx_menuRcPreview, 0},

2
src/main/config/config_master.h
View file

@ -61,6 +61,8 @@
#include "sensors/battery.h"
#include "sensors/compass.h"
#define motorConfig(x) (&masterConfig.motorConfig)
// System-wide
typedef struct master_s {
uint8_t version;

6
src/main/fc/config.c
View file

@ -528,7 +528,7 @@ controlRateConfig_t *getControlRateConfig(uint8_t profileIndex)
uint16_t getCurrentMinthrottle(void)
{
return masterConfig.motorConfig.minthrottle;
return motorConfig()->minthrottle;
}
@ -878,8 +878,8 @@ void activateConfig(void)
void validateAndFixConfig(void)
{
if((masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_BRUSHED) && (masterConfig.motorConfig.mincommand < 1000)){
masterConfig.motorConfig.mincommand = 1000;
if((motorConfig()->motorPwmProtocol == PWM_TYPE_BRUSHED) && (motorConfig()->mincommand < 1000)){
motorConfig()->mincommand = 1000;
}
if (!(featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_SERIAL) || featureConfigured(FEATURE_RX_MSP) || featureConfigured(FEATURE_RX_SPI))) {

26
src/main/fc/fc_msp.c
View file

@ -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:

18
src/main/io/serial_cli.c
View file

@ -699,22 +699,22 @@ const clivalue_t valueTable[] = {
{ "max_aux_channels", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.max_aux_channel, .config.minmax = { 0, 13 } },
{ "debug_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.debug_mode, .config.lookup = { TABLE_DEBUG } },
{ "min_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.motorConfig.minthrottle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "max_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.motorConfig.maxthrottle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "min_command", VAR_UINT16 | MASTER_VALUE, &masterConfig.motorConfig.mincommand, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "min_throttle", VAR_UINT16 | MASTER_VALUE, &motorConfig()->minthrottle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "max_throttle", VAR_UINT16 | MASTER_VALUE, &motorConfig()->maxthrottle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "min_command", VAR_UINT16 | MASTER_VALUE, &motorConfig()->mincommand, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
#ifdef USE_DSHOT
{ "digital_idle_percent", VAR_FLOAT | MASTER_VALUE, &masterConfig.motorConfig.digitalIdleOffsetPercent, .config.minmax = { 0, 20} },
{ "digital_idle_percent", VAR_FLOAT | MASTER_VALUE, &motorConfig()->digitalIdleOffsetPercent, .config.minmax = { 0, 20} },
#endif
{ "max_esc_throttle_jump", VAR_UINT16 | MASTER_VALUE, &masterConfig.motorConfig.maxEscThrottleJumpMs, .config.minmax = { 0, 1000 } },
{ "max_esc_throttle_jump", VAR_UINT16 | MASTER_VALUE, &motorConfig()->maxEscThrottleJumpMs, .config.minmax = { 0, 1000 } },
{ "3d_deadband_low", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.deadband3d_low, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } }, // FIXME upper limit should match code in the mixer, 1500 currently
{ "3d_deadband_high", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.deadband3d_high, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } }, // FIXME lower limit should match code in the mixer, 1500 currently,
{ "3d_neutral", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.neutral3d, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "3d_deadband_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.deadband3d_throttle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "use_unsynced_pwm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.motorConfig.useUnsyncedPwm, .config.lookup = { TABLE_OFF_ON } },
{ "motor_pwm_protocol", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.motorConfig.motorPwmProtocol, .config.lookup = { TABLE_MOTOR_PWM_PROTOCOL } },
{ "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.motorConfig.motorPwmRate, .config.minmax = { 200, 32000 } },
{ "use_unsynced_pwm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &motorConfig()->useUnsyncedPwm, .config.lookup = { TABLE_OFF_ON } },
{ "motor_pwm_protocol", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &motorConfig()->motorPwmProtocol, .config.lookup = { TABLE_MOTOR_PWM_PROTOCOL } },
{ "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, &motorConfig()->motorPwmRate, .config.minmax = { 200, 32000 } },
{ "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.armingConfig.disarm_kill_switch, .config.lookup = { TABLE_OFF_ON } },
{ "gyro_cal_on_first_arm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.armingConfig.gyro_cal_on_first_arm, .config.lookup = { TABLE_OFF_ON } },
@ -3790,7 +3790,7 @@ const cliResourceValue_t resourceTable[] = {
#ifdef BEEPER
{ OWNER_BEEPER, &masterConfig.beeperConfig.ioTag, 0 },
#endif
{ OWNER_MOTOR, &masterConfig.motorConfig.ioTags[0], MAX_SUPPORTED_MOTORS },
{ OWNER_MOTOR, &motorConfig()->ioTags[0], MAX_SUPPORTED_MOTORS },
#ifdef USE_SERVOS
{ OWNER_SERVO, &masterConfig.servoConfig.ioTags[0], MAX_SUPPORTED_SERVOS },
#endif

6
src/main/main.c
View file

@ -254,12 +254,12 @@ void init(void)
servoMixerInit(masterConfig.customServoMixer);
#endif
uint16_t idlePulse = masterConfig.motorConfig.mincommand;
uint16_t idlePulse = motorConfig()->mincommand;
if (feature(FEATURE_3D)) {
idlePulse = masterConfig.flight3DConfig.neutral3d;
}
if (masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_BRUSHED) {
if (motorConfig()->motorPwmProtocol == PWM_TYPE_BRUSHED) {
featureClear(FEATURE_3D);
idlePulse = 0; // brushed motors
}
@ -284,7 +284,7 @@ void init(void)
#if defined(USE_PWM) || defined(USE_PPM)
if (feature(FEATURE_RX_PPM)) {
ppmRxInit(&masterConfig.ppmConfig, masterConfig.motorConfig.motorPwmProtocol);
ppmRxInit(&masterConfig.ppmConfig, motorConfig()->motorPwmProtocol);
} else if (feature(FEATURE_RX_PARALLEL_PWM)) {
pwmRxInit(&masterConfig.pwmConfig);
}

12
src/main/target/COLIBRI_RACE/i2c_bst.c
View file

@ -750,9 +750,9 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
case BST_MISC:
bstWrite16(masterConfig.rxConfig.midrc);
bstWrite16(masterConfig.motorConfig.minthrottle);
bstWrite16(masterConfig.motorConfig.maxthrottle);
bstWrite16(masterConfig.motorConfig.mincommand);
bstWrite16(motorConfig()->minthrottle);
bstWrite16(motorConfig()->maxthrottle);
bstWrite16(motorConfig()->mincommand);
bstWrite16(masterConfig.failsafeConfig.failsafe_throttle);
@ -1113,9 +1113,9 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
if (tmp < 1600 && tmp > 1400)
masterConfig.rxConfig.midrc = tmp;
masterConfig.motorConfig.minthrottle = bstRead16();
masterConfig.motorConfig.maxthrottle = bstRead16();
masterConfig.motorConfig.mincommand = bstRead16();
motorConfig()->minthrottle = bstRead16();
motorConfig()->maxthrottle = bstRead16();
motorConfig()->mincommand = bstRead16();
masterConfig.failsafeConfig.failsafe_throttle = bstRead16();