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Cleanup servo configuration storage (align some values more

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efficiently).  Update MSP_SERVO_CONFIGURATIONS,
MSP_SET_SERVO_CONFIGURATION value order.  Add some error checking to
size of MSP_SET_SERVO_CONFIGURATION.
This commit is contained in:
Dominic Clifton 2015-07-12 23:32:07 +01:00
parent 52fe86e66d
commit 6dca303130
2 changed files with 9 additions and 5 deletions
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6
src/main/flight/mixer.h
View file

@ -138,12 +138,12 @@ typedef struct servoParam_t {
int16_t min; // servo min
int16_t max; // servo max
int16_t middle; // servo middle
int8_t rate; // range [-125;+125] ; can be used to adjust a rate 0-125% and a direction
uint32_t reversedSources; // the direction of servo movement for each input source of the servo mixer, bit set=inverted
int8_t rate; // range [-125;+125] ; can be used to adjust a rate 0-125% and a direction
uint8_t angleAtMin; // range [0;180] the measured angle in degrees from the middle when the servo is at the 'min' value.
uint8_t angleAtMax; // range [0;180] the measured angle in degrees from the middle when the servo is at the 'max' value.
int8_t forwardFromChannel; // RX channel index, 0 based. See CHANNEL_FORWARDING_DISABLED
} servoParam_t;
uint32_t reversedSources; // the direction of servo movement for each input source of the servo mixer, bit set=inverted
} __attribute__ ((__packed__)) servoParam_t;
struct gimbalConfig_s;
struct escAndServoConfig_s;

8
src/main/io/serial_msp.c
View file

@ -843,8 +843,8 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(currentProfile->servoConf[i].rate);
serialize8(currentProfile->servoConf[i].angleAtMin);
serialize8(currentProfile->servoConf[i].angleAtMax);
serialize32(currentProfile->servoConf[i].reversedSources);
serialize8(currentProfile->servoConf[i].forwardFromChannel);
serialize32(currentProfile->servoConf[i].reversedSources);
}
break;
case MSP_SERVO_MIX_RULES:
@ -1429,6 +1429,10 @@ static bool processInCommand(void)
break;
case MSP_SET_SERVO_CONFIGURATION:
#ifdef USE_SERVOS
if (currentPort->dataSize != 1 + sizeof(servoParam_t)) {
headSerialError(0);
break;
}
i = read8();
if (i >= MAX_SUPPORTED_SERVOS) {
headSerialError(0);
@ -1439,8 +1443,8 @@ static bool processInCommand(void)
currentProfile->servoConf[i].rate = read8();
currentProfile->servoConf[i].angleAtMin = read8();
currentProfile->servoConf[i].angleAtMax = read8();
currentProfile->servoConf[i].reversedSources = read32();
currentProfile->servoConf[i].forwardFromChannel = read8();
currentProfile->servoConf[i].reversedSources = read32();
}
#endif
break;