mirror of
https://github.com/betaflight/betaflight.git
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Preparation for conversion to parameter groups
This commit is contained in:
Martin Budden
parent
6f872ba899
commit
79d4b2146d
90 changed files with 1150 additions and 507 deletions
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@ -32,6 +32,8 @@ uint8_t cliMode = 0;
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#ifdef USE_CLI
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#include "blackbox/blackbox.h"
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#include "build/build_config.h"
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#include "build/debug.h"
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#include "build/version.h"
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@ -45,9 +47,10 @@ uint8_t cliMode = 0;
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#include "common/typeconversion.h"
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#include "config/config_eeprom.h"
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#include "config/config_master.h"
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#include "config/config_profile.h"
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#include "config/feature.h"
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#include "config/parameter_group.h"
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#include "config/parameter_group_ids.h"
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#include "config/parameter_group.h"
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#include "config/parameter_group_ids.h"
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@ -81,6 +84,7 @@ uint8_t cliMode = 0;
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#include "flight/mixer.h"
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#include "flight/navigation.h"
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#include "flight/pid.h"
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#include "flight/servos.h"
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#include "io/asyncfatfs/asyncfatfs.h"
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#include "io/beeper.h"
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@ -823,6 +827,71 @@ static const clivalue_t valueTable[] = {
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};
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#endif
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#ifdef USE_PARAMETER_GROUPS
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static featureConfig_t featureConfigCopy;
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static gyroConfig_t gyroConfigCopy;
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static accelerometerConfig_t accelerometerConfigCopy;
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#ifdef MAG
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static compassConfig_t compassConfigCopy;
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#endif
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#ifdef BARO
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static barometerConfig_t barometerConfigCopy;
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#endif
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#ifdef PITOT
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static pitotmeterConfig_t pitotmeterConfigCopy;
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#endif
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static featureConfig_t featureConfigCopy;
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static rxConfig_t rxConfigCopy;
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#ifdef BLACKBOX
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static blackboxConfig_t blackboxConfigCopy;
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#endif
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static rxFailsafeChannelConfig_t rxFailsafeChannelConfigsCopy[MAX_SUPPORTED_RC_CHANNEL_COUNT];
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static rxChannelRangeConfig_t rxChannelRangeConfigsCopy[NON_AUX_CHANNEL_COUNT];
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static motorConfig_t motorConfigCopy;
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static failsafeConfig_t failsafeConfigCopy;
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static boardAlignment_t boardAlignmentCopy;
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#ifdef USE_SERVOS
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static servoConfig_t servoConfigCopy;
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static gimbalConfig_t gimbalConfigCopy;
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static servoMixer_t customServoMixersCopy[MAX_SERVO_RULES];
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static servoParam_t servoParamsCopy[MAX_SUPPORTED_SERVOS];
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#endif
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static batteryConfig_t batteryConfigCopy;
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static motorMixer_t customMotorMixerCopy[MAX_SUPPORTED_MOTORS];
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static mixerConfig_t mixerConfigCopy;
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static flight3DConfig_t flight3DConfigCopy;
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static serialConfig_t serialConfigCopy;
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static imuConfig_t imuConfigCopy;
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static armingConfig_t armingConfigCopy;
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static rcControlsConfig_t rcControlsConfigCopy;
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#ifdef GPS
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static gpsConfig_t gpsConfigCopy;
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#endif
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#ifdef NAV
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static positionEstimationConfig_t positionEstimationConfigCopy;
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static navConfig_t navConfigCopy;
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#endif
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#ifdef TELEMETRY
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static telemetryConfig_t telemetryConfigCopy;
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#endif
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static modeActivationCondition_t modeActivationConditionsCopy[MAX_MODE_ACTIVATION_CONDITION_COUNT];
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static adjustmentRange_t adjustmentRangesCopy[MAX_ADJUSTMENT_RANGE_COUNT];
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#ifdef LED_STRIP
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static ledStripConfig_t ledStripConfigCopy;
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#endif
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#ifdef OSD
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static osdConfig_t osdConfigCopy;
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#endif
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static systemConfig_t systemConfigCopy;
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#ifdef BEEPER
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static beeperConfig_t beeperConfigCopy;
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#endif
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static controlRateConfig_t controlRateProfilesCopy[MAX_CONTROL_RATE_PROFILE_COUNT];
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static pidProfile_t pidProfileCopy[MAX_PROFILE_COUNT];
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static modeActivationOperatorConfig_t modeActivationOperatorConfigCopy;
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static beeperConfig_t beeperConfigCopy;
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#endif // USE_PARAMETER_GROUPS
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static void cliPrint(const char *str)
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{
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while (*str) {
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@ -994,6 +1063,180 @@ static const cliCurrentAndDefaultConfig_t *getCurrentAndDefaultConfigs(pgn_t pgn
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static cliCurrentAndDefaultConfig_t ret;
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switch (pgn) {
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case PG_GYRO_CONFIG:
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ret.currentConfig = &gyroConfigCopy;
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ret.defaultConfig = gyroConfig();
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break;
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case PG_ACCELEROMETER_CONFIG:
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ret.currentConfig = &accelerometerConfigCopy;
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ret.defaultConfig = accelerometerConfig();
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break;
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#ifdef MAG
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case PG_COMPASS_CONFIG:
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ret.currentConfig = &compassConfigCopy;
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ret.defaultConfig = compassConfig();
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break;
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#endif
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#ifdef BARO
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case PG_BAROMETER_CONFIG:
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ret.currentConfig = &barometerConfigCopy;
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ret.defaultConfig = barometerConfig();
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break;
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#endif
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#ifdef PITOT
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case PG_PITOTMETER_CONFIG:
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ret.currentConfig = &pitotmeterConfigCopy;
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ret.defaultConfig = pitotmeterConfig();
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break;
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#endif
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case PG_FEATURE_CONFIG:
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ret.currentConfig = &featureConfigCopy;
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ret.defaultConfig = featureConfig();
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break;
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case PG_RX_CONFIG:
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ret.currentConfig = &rxConfigCopy;
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ret.defaultConfig = rxConfig();
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break;
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#ifdef BLACKBOX
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case PG_BLACKBOX_CONFIG:
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ret.currentConfig = &blackboxConfigCopy;
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ret.defaultConfig = blackboxConfig();
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break;
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#endif
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case PG_MOTOR_CONFIG:
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ret.currentConfig = &motorConfigCopy;
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ret.defaultConfig = motorConfig();
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break;
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case PG_FAILSAFE_CONFIG:
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ret.currentConfig = &failsafeConfigCopy;
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ret.defaultConfig = failsafeConfig();
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break;
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case PG_BOARD_ALIGNMENT:
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ret.currentConfig = &boardAlignmentCopy;
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ret.defaultConfig = boardAlignment();
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break;
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case PG_MIXER_CONFIG:
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ret.currentConfig = &mixerConfigCopy;
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ret.defaultConfig = mixerConfig();
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break;
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case PG_MOTOR_3D_CONFIG:
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ret.currentConfig = &flight3DConfigCopy;
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ret.defaultConfig = flight3DConfig();
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break;
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#ifdef USE_SERVOS
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case PG_SERVO_CONFIG:
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ret.currentConfig = &servoConfigCopy;
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ret.defaultConfig = servoConfig();
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break;
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case PG_GIMBAL_CONFIG:
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ret.currentConfig = &gimbalConfigCopy;
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ret.defaultConfig = gimbalConfig();
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break;
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#endif
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case PG_BATTERY_CONFIG:
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ret.currentConfig = &batteryConfigCopy;
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ret.defaultConfig = batteryConfig();
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break;
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case PG_SERIAL_CONFIG:
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ret.currentConfig = &serialConfigCopy;
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ret.defaultConfig = serialConfig();
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break;
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case PG_IMU_CONFIG:
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ret.currentConfig = &imuConfigCopy;
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ret.defaultConfig = imuConfig();
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break;
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case PG_RC_CONTROLS_CONFIG:
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ret.currentConfig = &rcControlsConfigCopy;
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ret.defaultConfig = rcControlsConfig();
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break;
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case PG_ARMING_CONFIG:
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ret.currentConfig = &armingConfigCopy;
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ret.defaultConfig = armingConfig();
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break;
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#ifdef GPS
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case PG_GPS_CONFIG:
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ret.currentConfig = &gpsConfigCopy;
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ret.defaultConfig = gpsConfig();
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break;
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#endif
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#ifdef NAV
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case PG_POSITION_ESTIMATION_CONFIG:
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ret.currentConfig = &positionEstimationConfigCopy;
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ret.defaultConfig = positionEstimationConfig();
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break;
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case PG_NAV_CONFIG:
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ret.currentConfig = &navConfigCopy;
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ret.defaultConfig = navConfig();
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break;
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#endif
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#ifdef TELEMETRY
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case PG_TELEMETRY_CONFIG:
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ret.currentConfig = &telemetryConfigCopy;
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ret.defaultConfig = telemetryConfig();
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break;
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#endif
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#ifdef LED_STRIP
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case PG_LED_STRIP_CONFIG:
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ret.currentConfig = &ledStripConfigCopy;
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ret.defaultConfig = ledStripConfig();
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break;
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#endif
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#ifdef OSD
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case PG_OSD_CONFIG:
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ret.currentConfig = &osdConfigCopy;
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ret.defaultConfig = osdConfig();
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break;
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#endif
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case PG_SYSTEM_CONFIG:
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ret.currentConfig = &systemConfigCopy;
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ret.defaultConfig = systemConfig();
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break;
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case PG_MODE_ACTIVATION_OPERATOR_CONFIG:
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ret.currentConfig = &modeActivationOperatorConfigCopy;
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ret.defaultConfig = modeActivationOperatorConfig();
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break;
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case PG_CONTROL_RATE_PROFILES:
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ret.currentConfig = &controlRateProfilesCopy[0];
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ret.defaultConfig = controlRateProfiles(0);
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break;
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case PG_PID_PROFILE:
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ret.currentConfig = &pidProfileCopy[getConfigProfile()];
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ret.defaultConfig = pidProfile();
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break;
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case PG_RX_FAILSAFE_CHANNEL_CONFIG:
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ret.currentConfig = &rxFailsafeChannelConfigsCopy[0];
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ret.defaultConfig = rxFailsafeChannelConfigs(0);
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break;
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case PG_RX_CHANNEL_RANGE_CONFIG:
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ret.currentConfig = &rxChannelRangeConfigsCopy[0];
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ret.defaultConfig = rxChannelRangeConfigs(0);
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break;
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#ifdef USE_SERVOS
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case PG_SERVO_MIXER:
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ret.currentConfig = &customServoMixersCopy[0];
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ret.defaultConfig = customServoMixers(0);
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break;
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case PG_SERVO_PARAMS:
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ret.currentConfig = &servoParamsCopy[0];
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ret.defaultConfig = servoParams(0);
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break;
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#endif
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case PG_MOTOR_MIXER:
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ret.currentConfig = &customMotorMixerCopy[0];
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ret.defaultConfig = customMotorMixer(0);
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break;
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case PG_MODE_ACTIVATION_PROFILE:
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ret.currentConfig = &modeActivationConditionsCopy[0];
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ret.defaultConfig = modeActivationConditions(0);
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break;
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case PG_ADJUSTMENT_RANGE_CONFIG:
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ret.currentConfig = &adjustmentRangesCopy[0];
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ret.defaultConfig = adjustmentRanges(0);
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break;
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case PG_BEEPER_CONFIG:
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ret.currentConfig = &beeperConfigCopy;
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ret.defaultConfig = beeperConfig();
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break;
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default:
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ret.currentConfig = NULL;
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ret.defaultConfig = NULL;
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@ -1810,7 +2053,7 @@ static void cliMotorMix(char *cmdline)
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} else if (strncasecmp(cmdline, "reset", 5) == 0) {
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// erase custom mixer
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for (uint32_t i = 0; i < MAX_SUPPORTED_MOTORS; i++)
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customMotorMixer(i)->throttle = 0.0f;
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customMotorMixerMutable(i)->throttle = 0.0f;
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} else if (strncasecmp(cmdline, "load", 4) == 0) {
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ptr = nextArg(cmdline);
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if (ptr) {
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@ -1821,7 +2064,7 @@ static void cliMotorMix(char *cmdline)
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break;
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}
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if (strncasecmp(ptr, mixerNames[i], len) == 0) {
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mixerLoadMix(i, masterConfig.customMotorMixer);
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mixerLoadMix(i, customMotorMixerMutable(0));
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cliPrintf("Loaded %s\r\n", mixerNames[i]);
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cliMotorMix("");
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break;
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@ -1834,22 +2077,22 @@ static void cliMotorMix(char *cmdline)
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if (i < MAX_SUPPORTED_MOTORS) {
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ptr = nextArg(ptr);
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if (ptr) {
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customMotorMixer(i)->throttle = fastA2F(ptr);
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customMotorMixerMutable(i)->throttle = fastA2F(ptr);
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check++;
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}
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ptr = nextArg(ptr);
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if (ptr) {
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customMotorMixer(i)->roll = fastA2F(ptr);
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customMotorMixerMutable(i)->roll = fastA2F(ptr);
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check++;
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}
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ptr = nextArg(ptr);
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if (ptr) {
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customMotorMixer(i)->pitch = fastA2F(ptr);
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customMotorMixerMutable(i)->pitch = fastA2F(ptr);
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check++;
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}
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ptr = nextArg(ptr);
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if (ptr) {
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customMotorMixer(i)->yaw = fastA2F(ptr);
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customMotorMixerMutable(i)->yaw = fastA2F(ptr);
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check++;
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}
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if (check != 4) {
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@ -2200,7 +2443,7 @@ static void printServoMix(uint8_t dumpMask, const master_t *defaultConfig)
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{
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const char *format = "smix %d %d %d %d %d %d %d %d\r\n";
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for (uint32_t i = 0; i < MAX_SERVO_RULES; i++) {
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servoMixer_t customServoMixer = *customServoMixer(i);
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const servoMixer_t customServoMixer = *customServoMixers(i);
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if (customServoMixer.rate == 0) {
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break;
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}
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@ -2361,13 +2604,13 @@ static void cliServoMix(char *cmdline)
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args[MIN] >= 0 && args[MIN] <= 100 &&
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args[MAX] >= 0 && args[MAX] <= 100 && args[MIN] < args[MAX] &&
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args[BOX] >= 0 && args[BOX] <= MAX_SERVO_BOXES) {
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customServoMixer(i)->targetChannel = args[TARGET];
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customServoMixer(i)->inputSource = args[INPUT];
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customServoMixer(i)->rate = args[RATE];
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customServoMixer(i)->speed = args[SPEED];
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customServoMixer(i)->min = args[MIN];
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customServoMixer(i)->max = args[MAX];
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customServoMixer(i)->box = args[BOX];
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customServoMixersMutable(i)->targetChannel = args[TARGET];
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customServoMixersMutable(i)->inputSource = args[INPUT];
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customServoMixersMutable(i)->rate = args[RATE];
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customServoMixersMutable(i)->speed = args[SPEED];
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customServoMixersMutable(i)->min = args[MIN];
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customServoMixersMutable(i)->max = args[MAX];
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customServoMixersMutable(i)->box = args[BOX];
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cliServoMix("");
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} else {
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cliShowParseError();
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@ -3023,7 +3266,7 @@ static void cliMixer(char *cmdline)
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return;
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}
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if (strncasecmp(cmdline, mixerNames[i], len) == 0) {
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mixerConfig()->mixerMode = i + 1;
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mixerConfigMutable()->mixerMode = i + 1;
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break;
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}
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}
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@ -3671,12 +3914,45 @@ static void cliResource(char *cmdline)
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#ifdef USE_PARAMETER_GROUPS
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static void backupConfigs(void)
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{
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// make copies of configs to do differencing
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// make copies of configs to do differencing
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PG_FOREACH(reg) {
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// currentConfig is the copy
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const cliCurrentAndDefaultConfig_t *cliCurrentAndDefaultConfig = getCurrentAndDefaultConfigs(pgN(reg));
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if (cliCurrentAndDefaultConfig->currentConfig) {
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if (pgIsProfile(reg)) {
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//memcpy((uint8_t *)cliCurrentAndDefaultConfig->currentConfig, reg->address, reg->size * MAX_PROFILE_COUNT);
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} else {
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memcpy((uint8_t *)cliCurrentAndDefaultConfig->currentConfig, reg->address, reg->size);
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}
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#ifdef SERIAL_CLI_DEBUG
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} else {
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cliPrintf("BACKUP %d SET UP INCORRECTLY\r\n", pgN(reg));
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#endif
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}
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}
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const pgRegistry_t* reg = pgFind(PG_PID_PROFILE);
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memcpy(&pidProfileCopy[0], reg->address, sizeof(pidProfile_t) * MAX_PROFILE_COUNT);
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}
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static void restoreConfigs(void)
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{
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PG_FOREACH(reg) {
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// currentConfig is the copy
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const cliCurrentAndDefaultConfig_t *cliCurrentAndDefaultConfig = getCurrentAndDefaultConfigs(pgN(reg));
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if (cliCurrentAndDefaultConfig->currentConfig) {
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if (pgIsProfile(reg)) {
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//memcpy(reg->address, (uint8_t *)cliCurrentAndDefaultConfig->currentConfig, reg->size * MAX_PROFILE_COUNT);
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} else {
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memcpy(reg->address, (uint8_t *)cliCurrentAndDefaultConfig->currentConfig, reg->size);
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}
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#ifdef SERIAL_CLI_DEBUG
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} else {
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cliPrintf("RESTORE %d SET UP INCORRECTLY\r\n", pgN(reg));
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#endif
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}
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}
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const pgRegistry_t* reg = pgFind(PG_PID_PROFILE);
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memcpy(reg->address, &pidProfileCopy[0], sizeof(pidProfile_t) * MAX_PROFILE_COUNT);
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}
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#endif
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