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Instead of copying a profile from the master config into memory again,

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just use it in-place.  This saves ~308bytes of memory.

Prior to this there were 4 profiles in ram all the time, the 3 main
profiles and a copy of one of them.

This commit was aided by a side effect of the work done to clean up the
output of the cli dump command since it is now easy to conditionally
apply the changes to the memory addressed used to read/write cli
variables.  See 8c3a869251.
This commit is contained in:
Dominic Clifton 2014-08-22 21:53:23 +01:00
parent b85c5243db
commit 8ebdb245c2
10 changed files with 261 additions and 258 deletions
Download patch file Download diff file Expand all files Collapse all files

192
src/main/io/serial_cli.c
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@ -228,20 +228,20 @@ const clivalue_t valueTable[] = {
{ "gps_sbas_mode", VAR_UINT8 | MASTER_VALUE, &masterConfig.gpsConfig.sbasMode, 0, SBAS_MODE_MAX },
{ "gps_pos_p", VAR_UINT8 | PROFILE_VALUE, &currentProfile.pidProfile.P8[PIDPOS], 0, 200 },
{ "gps_pos_i", VAR_UINT8 | PROFILE_VALUE, &currentProfile.pidProfile.I8[PIDPOS], 0, 200 },
{ "gps_pos_d", VAR_UINT8 | PROFILE_VALUE, &currentProfile.pidProfile.D8[PIDPOS], 0, 200 },
{ "gps_posr_p", VAR_UINT8 | PROFILE_VALUE, &currentProfile.pidProfile.P8[PIDPOSR], 0, 200 },
{ "gps_posr_i", VAR_UINT8 | PROFILE_VALUE, &currentProfile.pidProfile.I8[PIDPOSR], 0, 200 },
{ "gps_posr_d", VAR_UINT8 | PROFILE_VALUE, &currentProfile.pidProfile.D8[PIDPOSR], 0, 200 },
{ "gps_nav_p", VAR_UINT8 | PROFILE_VALUE, &currentProfile.pidProfile.P8[PIDNAVR], 0, 200 },
{ "gps_nav_i", VAR_UINT8 | PROFILE_VALUE, &currentProfile.pidProfile.I8[PIDNAVR], 0, 200 },
{ "gps_nav_d", VAR_UINT8 | PROFILE_VALUE, &currentProfile.pidProfile.D8[PIDNAVR], 0, 200 },
{ "gps_wp_radius", VAR_UINT16 | PROFILE_VALUE, &currentProfile.gpsProfile.gps_wp_radius, 0, 2000 },
{ "nav_controls_heading", VAR_UINT8 | PROFILE_VALUE, &currentProfile.gpsProfile.nav_controls_heading, 0, 1 },
{ "nav_speed_min", VAR_UINT16 | PROFILE_VALUE, &currentProfile.gpsProfile.nav_speed_min, 10, 2000 },
{ "nav_speed_max", VAR_UINT16 | PROFILE_VALUE, &currentProfile.gpsProfile.nav_speed_max, 10, 2000 },
{ "nav_slew_rate", VAR_UINT8 | PROFILE_VALUE, &currentProfile.gpsProfile.nav_slew_rate, 0, 100 },
{ "gps_pos_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDPOS], 0, 200 },
{ "gps_pos_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDPOS], 0, 200 },
{ "gps_pos_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDPOS], 0, 200 },
{ "gps_posr_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDPOSR], 0, 200 },
{ "gps_posr_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDPOSR], 0, 200 },
{ "gps_posr_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDPOSR], 0, 200 },
{ "gps_nav_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDNAVR], 0, 200 },
{ "gps_nav_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDNAVR], 0, 200 },
{ "gps_nav_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDNAVR], 0, 200 },
{ "gps_wp_radius", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].gpsProfile.gps_wp_radius, 0, 2000 },
{ "nav_controls_heading", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].gpsProfile.nav_controls_heading, 0, 1 },
{ "nav_speed_min", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].gpsProfile.nav_speed_min, 10, 2000 },
{ "nav_speed_max", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].gpsProfile.nav_speed_max, 10, 2000 },
{ "nav_slew_rate", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].gpsProfile.nav_slew_rate, 0, 100 },
#endif
{ "serialrx_provider", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.serialrx_provider, 0, SERIALRX_PROVIDER_MAX },
@ -273,88 +273,88 @@ const clivalue_t valueTable[] = {
{ "gyro_cmpf_factor", VAR_UINT16 | MASTER_VALUE, &masterConfig.gyro_cmpf_factor, 100, 1000 },
{ "gyro_cmpfm_factor", VAR_UINT16 | MASTER_VALUE, &masterConfig.gyro_cmpfm_factor, 100, 1000 },
{ "alt_hold_deadband", VAR_UINT8 | PROFILE_VALUE, &currentProfile.alt_hold_deadband, 1, 250 },
{ "alt_hold_fast_change", VAR_UINT8 | PROFILE_VALUE, &currentProfile.alt_hold_fast_change, 0, 1 },
{ "alt_hold_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].alt_hold_deadband, 1, 250 },
{ "alt_hold_fast_change", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].alt_hold_fast_change, 0, 1 },
{ "throttle_correction_value", VAR_UINT8 | PROFILE_VALUE, &currentProfile.throttle_correction_value, 0, 150 },
{ "throttle_correction_angle", VAR_UINT16 | PROFILE_VALUE, &currentProfile.throttle_correction_angle, 1, 900 },
{ "throttle_correction_value", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].throttle_correction_value, 0, 150 },
{ "throttle_correction_angle", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].throttle_correction_angle, 1, 900 },
{ "deadband", VAR_UINT8 | PROFILE_VALUE, &currentProfile.deadband, 0, 32 },
{ "yaw_deadband", VAR_UINT8 | PROFILE_VALUE, &currentProfile.yaw_deadband, 0, 100 },
{ "deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].deadband, 0, 32 },
{ "yaw_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].yaw_deadband, 0, 100 },
{ "yaw_control_direction", VAR_INT8 | MASTER_VALUE, &masterConfig.yaw_control_direction, -1, 1 },
{ "yaw_direction", VAR_INT8 | PROFILE_VALUE, &currentProfile.mixerConfig.yaw_direction, -1, 1 },
{ "tri_unarmed_servo", VAR_INT8 | PROFILE_VALUE, &currentProfile.mixerConfig.tri_unarmed_servo, 0, 1 },
{ "yaw_direction", VAR_INT8 | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.yaw_direction, -1, 1 },
{ "tri_unarmed_servo", VAR_INT8 | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.tri_unarmed_servo, 0, 1 },
{ "rc_rate", VAR_UINT8 | PROFILE_VALUE, &currentProfile.controlRateConfig.rcRate8, 0, 250 },
{ "rc_expo", VAR_UINT8 | PROFILE_VALUE, &currentProfile.controlRateConfig.rcExpo8, 0, 100 },
{ "thr_mid", VAR_UINT8 | PROFILE_VALUE, &currentProfile.controlRateConfig.thrMid8, 0, 100 },
{ "thr_expo", VAR_UINT8 | PROFILE_VALUE, &currentProfile.controlRateConfig.thrExpo8, 0, 100 },
{ "roll_pitch_rate", VAR_UINT8 | PROFILE_VALUE, &currentProfile.controlRateConfig.rollPitchRate, 0, 100 },
{ "yaw_rate", VAR_UINT8 | PROFILE_VALUE, &currentProfile.controlRateConfig.yawRate, 0, 100 },
{ "tpa_rate", VAR_UINT8 | PROFILE_VALUE, &currentProfile.dynThrPID, 0, 100},
{ "tpa_breakpoint", VAR_UINT16 | PROFILE_VALUE, &currentProfile.tpa_breakpoint, PWM_RANGE_MIN, PWM_RANGE_MAX},
{ "rc_rate", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].controlRateConfig.rcRate8, 0, 250 },
{ "rc_expo", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].controlRateConfig.rcExpo8, 0, 100 },
{ "thr_mid", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].controlRateConfig.thrMid8, 0, 100 },
{ "thr_expo", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].controlRateConfig.thrExpo8, 0, 100 },
{ "roll_pitch_rate", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].controlRateConfig.rollPitchRate, 0, 100 },
{ "yaw_rate", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].controlRateConfig.yawRate, 0, 100 },
{ "tpa_rate", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].dynThrPID, 0, 100},
{ "tpa_breakpoint", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].tpa_breakpoint, PWM_RANGE_MIN, PWM_RANGE_MAX},
{ "failsafe_delay", VAR_UINT8 | PROFILE_VALUE, &currentProfile.failsafeConfig.failsafe_delay, 0, 200 },
{ "failsafe_off_delay", VAR_UINT8 | PROFILE_VALUE, &currentProfile.failsafeConfig.failsafe_off_delay, 0, 200 },
{ "failsafe_throttle", VAR_UINT16 | PROFILE_VALUE, &currentProfile.failsafeConfig.failsafe_throttle, PWM_RANGE_MIN, PWM_RANGE_MAX },
{ "failsafe_min_usec", VAR_UINT16 | PROFILE_VALUE, &currentProfile.failsafeConfig.failsafe_min_usec, 100, PWM_RANGE_MAX },
{ "failsafe_max_usec", VAR_UINT16 | PROFILE_VALUE, &currentProfile.failsafeConfig.failsafe_max_usec, 100, PWM_RANGE_MAX + (PWM_RANGE_MAX - PWM_RANGE_MIN) },
{ "failsafe_delay", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].failsafeConfig.failsafe_delay, 0, 200 },
{ "failsafe_off_delay", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].failsafeConfig.failsafe_off_delay, 0, 200 },
{ "failsafe_throttle", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].failsafeConfig.failsafe_throttle, PWM_RANGE_MIN, PWM_RANGE_MAX },
{ "failsafe_min_usec", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].failsafeConfig.failsafe_min_usec, 100, PWM_RANGE_MAX },
{ "failsafe_max_usec", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].failsafeConfig.failsafe_max_usec, 100, PWM_RANGE_MAX + (PWM_RANGE_MAX - PWM_RANGE_MIN) },
{ "gimbal_flags", VAR_UINT8 | PROFILE_VALUE, &currentProfile.gimbalConfig.gimbal_flags, 0, 255},
{ "gimbal_flags", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].gimbalConfig.gimbal_flags, 0, 255},
{ "acc_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.acc_hardware, 0, 5 },
{ "acc_lpf_factor", VAR_UINT8 | PROFILE_VALUE, &currentProfile.acc_lpf_factor, 0, 250 },
{ "accxy_deadband", VAR_UINT8 | PROFILE_VALUE, &currentProfile.accDeadband.xy, 0, 100 },
{ "accz_deadband", VAR_UINT8 | PROFILE_VALUE, &currentProfile.accDeadband.z, 0, 100 },
{ "accz_lpf_cutoff", VAR_FLOAT | PROFILE_VALUE, &currentProfile.accz_lpf_cutoff, 1, 20 },
{ "acc_unarmedcal", VAR_UINT8 | PROFILE_VALUE, &currentProfile.acc_unarmedcal, 0, 1 },
{ "acc_trim_pitch", VAR_INT16 | PROFILE_VALUE, &currentProfile.accelerometerTrims.values.pitch, -300, 300 },
{ "acc_trim_roll", VAR_INT16 | PROFILE_VALUE, &currentProfile.accelerometerTrims.values.roll, -300, 300 },
{ "acc_lpf_factor", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].acc_lpf_factor, 0, 250 },
{ "accxy_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].accDeadband.xy, 0, 100 },
{ "accz_deadband", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].accDeadband.z, 0, 100 },
{ "accz_lpf_cutoff", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].accz_lpf_cutoff, 1, 20 },
{ "acc_unarmedcal", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].acc_unarmedcal, 0, 1 },
{ "acc_trim_pitch", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].accelerometerTrims.values.pitch, -300, 300 },
{ "acc_trim_roll", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].accelerometerTrims.values.roll, -300, 300 },
{ "baro_tab_size", VAR_UINT8 | PROFILE_VALUE, &currentProfile.barometerConfig.baro_sample_count, 0, BARO_SAMPLE_COUNT_MAX },
{ "baro_noise_lpf", VAR_FLOAT | PROFILE_VALUE, &currentProfile.barometerConfig.baro_noise_lpf, 0, 1 },
{ "baro_cf_vel", VAR_FLOAT | PROFILE_VALUE, &currentProfile.barometerConfig.baro_cf_vel, 0, 1 },
{ "baro_cf_alt", VAR_FLOAT | PROFILE_VALUE, &currentProfile.barometerConfig.baro_cf_alt, 0, 1 },
{ "baro_tab_size", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_sample_count, 0, BARO_SAMPLE_COUNT_MAX },
{ "baro_noise_lpf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_noise_lpf, 0, 1 },
{ "baro_cf_vel", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_cf_vel, 0, 1 },
{ "baro_cf_alt", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_cf_alt, 0, 1 },
{ "mag_declination", VAR_INT16 | PROFILE_VALUE, &currentProfile.mag_declination, -18000, 18000 },
{ "mag_declination", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].mag_declination, -18000, 18000 },
{ "pid_controller", VAR_UINT8 | PROFILE_VALUE, &currentProfile.pidController, 0, 2 },
{ "pid_controller", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidController, 0, 2 },
{ "p_pitch", VAR_UINT8 | PROFILE_VALUE, &currentProfile.pidProfile.P8[PITCH], 0, 200 },
{ "i_pitch", VAR_UINT8 | PROFILE_VALUE, &currentProfile.pidProfile.I8[PITCH], 0, 200 },
{ "d_pitch", VAR_UINT8 | PROFILE_VALUE, &currentProfile.pidProfile.D8[PITCH], 0, 200 },
{ "p_roll", VAR_UINT8 | PROFILE_VALUE, &currentProfile.pidProfile.P8[ROLL], 0, 200 },
{ "i_roll", VAR_UINT8 | PROFILE_VALUE, &currentProfile.pidProfile.I8[ROLL], 0, 200 },
{ "d_roll", VAR_UINT8 | PROFILE_VALUE, &currentProfile.pidProfile.D8[ROLL], 0, 200 },
{ "p_yaw", VAR_UINT8 | PROFILE_VALUE, &currentProfile.pidProfile.P8[YAW], 0, 200 },
{ "i_yaw", VAR_UINT8 | PROFILE_VALUE, &currentProfile.pidProfile.I8[YAW], 0, 200 },
{ "d_yaw", VAR_UINT8 | PROFILE_VALUE, &currentProfile.pidProfile.D8[YAW], 0, 200 },
{ "p_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PITCH], 0, 200 },
{ "i_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PITCH], 0, 200 },
{ "d_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PITCH], 0, 200 },
{ "p_roll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[ROLL], 0, 200 },
{ "i_roll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[ROLL], 0, 200 },
{ "d_roll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[ROLL], 0, 200 },
{ "p_yaw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[YAW], 0, 200 },
{ "i_yaw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[YAW], 0, 200 },
{ "d_yaw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[YAW], 0, 200 },
{ "p_pitchf", VAR_FLOAT | PROFILE_VALUE, &currentProfile.pidProfile.P_f[PITCH], 0, 100 },
{ "i_pitchf", VAR_FLOAT | PROFILE_VALUE, &currentProfile.pidProfile.I_f[PITCH], 0, 100 },
{ "d_pitchf", VAR_FLOAT | PROFILE_VALUE, &currentProfile.pidProfile.D_f[PITCH], 0, 100 },
{ "p_rollf", VAR_FLOAT | PROFILE_VALUE, &currentProfile.pidProfile.P_f[ROLL], 0, 100 },
{ "i_rollf", VAR_FLOAT | PROFILE_VALUE, &currentProfile.pidProfile.I_f[ROLL], 0, 100 },
{ "d_rollf", VAR_FLOAT | PROFILE_VALUE, &currentProfile.pidProfile.D_f[ROLL], 0, 100 },
{ "p_yawf", VAR_FLOAT | PROFILE_VALUE, &currentProfile.pidProfile.P_f[YAW], 0, 100 },
{ "i_yawf", VAR_FLOAT | PROFILE_VALUE, &currentProfile.pidProfile.I_f[YAW], 0, 100 },
{ "d_yawf", VAR_FLOAT | PROFILE_VALUE, &currentProfile.pidProfile.D_f[YAW], 0, 100 },
{ "p_pitchf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P_f[PITCH], 0, 100 },
{ "i_pitchf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I_f[PITCH], 0, 100 },
{ "d_pitchf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D_f[PITCH], 0, 100 },
{ "p_rollf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P_f[ROLL], 0, 100 },
{ "i_rollf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I_f[ROLL], 0, 100 },
{ "d_rollf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D_f[ROLL], 0, 100 },
{ "p_yawf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P_f[YAW], 0, 100 },
{ "i_yawf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I_f[YAW], 0, 100 },
{ "d_yawf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D_f[YAW], 0, 100 },
{ "level_horizon", VAR_FLOAT | PROFILE_VALUE, &currentProfile.pidProfile.H_level, 0, 10 },
{ "level_angle", VAR_FLOAT | PROFILE_VALUE, &currentProfile.pidProfile.A_level, 0, 10 },
{ "level_horizon", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.H_level, 0, 10 },
{ "level_angle", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.A_level, 0, 10 },
{ "p_alt", VAR_UINT8 | PROFILE_VALUE, &currentProfile.pidProfile.P8[PIDALT], 0, 200 },
{ "i_alt", VAR_UINT8 | PROFILE_VALUE, &currentProfile.pidProfile.I8[PIDALT], 0, 200 },
{ "d_alt", VAR_UINT8 | PROFILE_VALUE, &currentProfile.pidProfile.D8[PIDALT], 0, 200 },
{ "p_alt", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDALT], 0, 200 },
{ "i_alt", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDALT], 0, 200 },
{ "d_alt", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDALT], 0, 200 },
{ "p_level", VAR_UINT8 | PROFILE_VALUE, &currentProfile.pidProfile.P8[PIDLEVEL], 0, 200 },
{ "i_level", VAR_UINT8 | PROFILE_VALUE, &currentProfile.pidProfile.I8[PIDLEVEL], 0, 200 },
{ "d_level", VAR_UINT8 | PROFILE_VALUE, &currentProfile.pidProfile.D8[PIDLEVEL], 0, 200 },
{ "p_level", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDLEVEL], 0, 200 },
{ "i_level", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDLEVEL], 0, 200 },
{ "d_level", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDLEVEL], 0, 200 },
{ "p_vel", VAR_UINT8 | PROFILE_VALUE, &currentProfile.pidProfile.P8[PIDVEL], 0, 200 },
{ "i_vel", VAR_UINT8 | PROFILE_VALUE, &currentProfile.pidProfile.I8[PIDVEL], 0, 200 },
{ "d_vel", VAR_UINT8 | PROFILE_VALUE, &currentProfile.pidProfile.D8[PIDVEL], 0, 200 },
{ "p_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDVEL], 0, 200 },
{ "i_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDVEL], 0, 200 },
{ "d_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], 0, 200 },
};
#define VALUE_COUNT (sizeof(valueTable) / sizeof(clivalue_t))
@ -390,14 +390,14 @@ static void cliAux(char *cmdline)
if (len == 0) {
// print out aux channel settings
for (i = 0; i < CHECKBOX_ITEM_COUNT; i++)
printf("aux %u %u\r\n", i, currentProfile.activate[i]);
printf("aux %u %u\r\n", i, currentProfile->activate[i]);
} else {
ptr = cmdline;
i = atoi(ptr);
if (i < CHECKBOX_ITEM_COUNT) {
ptr = strchr(cmdline, ' ');
val = atoi(ptr);
currentProfile.activate[i] = val;
currentProfile->activate[i] = val;
} else {
printf("Invalid Feature index: must be < %u\r\n", CHECKBOX_ITEM_COUNT);
}
@ -874,7 +874,7 @@ static void cliSave(char *cmdline)
UNUSED(cmdline);
cliPrint("Saving");
copyCurrentProfileToProfileSlot(masterConfig.current_profile_index);
//copyCurrentProfileToProfileSlot(masterConfig.current_profile_index);
writeEEPROM();
cliReboot();
}
@ -904,29 +904,34 @@ static void cliPrintVar(const clivalue_t *var, uint32_t full)
int32_t value = 0;
char buf[8];
void *ptr = var->ptr;
if (var->type & PROFILE_VALUE) {
ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index);
}
switch (var->type & VALUE_TYPE_MASK) {
case VAR_UINT8:
value = *(uint8_t *)var->ptr;
value = *(uint8_t *)ptr;
break;
case VAR_INT8:
value = *(int8_t *)var->ptr;
value = *(int8_t *)ptr;
break;
case VAR_UINT16:
value = *(uint16_t *)var->ptr;
value = *(uint16_t *)ptr;
break;
case VAR_INT16:
value = *(int16_t *)var->ptr;
value = *(int16_t *)ptr;
break;
case VAR_UINT32:
value = *(uint32_t *)var->ptr;
value = *(uint32_t *)ptr;
break;
case VAR_FLOAT:
printf("%s", ftoa(*(float *)var->ptr, buf));
printf("%s", ftoa(*(float *)ptr, buf));
if (full) {
printf(" %s", ftoa((float)var->min, buf));
printf(" %s", ftoa((float)var->max, buf));
@ -940,23 +945,28 @@ static void cliPrintVar(const clivalue_t *var, uint32_t full)
static void cliSetVar(const clivalue_t *var, const int_float_value_t value)
{
void *ptr = var->ptr;
if (var->type & PROFILE_VALUE) {
ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * masterConfig.current_profile_index);
}
switch (var->type & VALUE_TYPE_MASK) {
case VAR_UINT8:
case VAR_INT8:
*(char *)var->ptr = (char)value.int_value;
*(char *)ptr = (char)value.int_value;
break;
case VAR_UINT16:
case VAR_INT16:
*(short *)var->ptr = (short)value.int_value;
*(short *)ptr = (short)value.int_value;
break;
case VAR_UINT32:
*(int *)var->ptr = (int)value.int_value;
*(int *)ptr = (int)value.int_value;
break;
case VAR_FLOAT:
*(float *)var->ptr = (float)value.float_value;
*(float *)ptr = (float)value.float_value;
break;
}
}