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Code Issues Wiki Activity

Moved #defines out of mixer function definitions

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This commit is contained in:
Martin Budden 2016-08-17 09:14:08 +01:00
parent a303509920
commit 9a4d975077
4 changed files with 40 additions and 48 deletions
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8
src/main/config/config.c
View file

@ -678,10 +678,6 @@ void activateConfig(void)
setAccelerationFilter(masterConfig.acc_lpf_hz);
mixerUseConfigs(
#ifdef USE_SERVOS
masterConfig.servoConf,
&masterConfig.gimbalConfig,
#endif
&masterConfig.flight3DConfig,
&masterConfig.escAndServoConfig,
&masterConfig.mixerConfig,
@ -689,6 +685,10 @@ void activateConfig(void)
&masterConfig.rxConfig
);
#ifdef USE_SERVOS
servoUseConfigs(masterConfig.servoConf, &masterConfig.gimbalConfig);
#endif
imuRuntimeConfig.dcm_kp = masterConfig.dcm_kp / 10000.0f;
imuRuntimeConfig.dcm_ki = masterConfig.dcm_ki / 10000.0f;
imuRuntimeConfig.acc_unarmedcal = masterConfig.acc_unarmedcal;

63
src/main/flight/mixer.c
View file

@ -335,20 +335,12 @@ static servoMixer_t *customServoMixers;
static motorMixer_t *customMixers;
void mixerUseConfigs(
#ifdef USE_SERVOS
servoParam_t *servoConfToUse,
gimbalConfig_t *gimbalConfigToUse,
#endif
flight3DConfig_t *flight3DConfigToUse,
escAndServoConfig_t *escAndServoConfigToUse,
mixerConfig_t *mixerConfigToUse,
airplaneConfig_t *airplaneConfigToUse,
rxConfig_t *rxConfigToUse)
{
#ifdef USE_SERVOS
servoConf = servoConfToUse;
gimbalConfig = gimbalConfigToUse;
#endif
flight3DConfig = flight3DConfigToUse;
escAndServoConfig = escAndServoConfigToUse;
mixerConfig = mixerConfigToUse;
@ -357,6 +349,12 @@ void mixerUseConfigs(
}
#ifdef USE_SERVOS
void servoUseConfigs(servoParam_t *servoConfToUse, gimbalConfig_t *gimbalConfigToUse)
{
servoConf = servoConfToUse;
gimbalConfig = gimbalConfigToUse;
}
int16_t determineServoMiddleOrForwardFromChannel(servoIndex_e servoIndex)
{
uint8_t channelToForwardFrom = servoConf[servoIndex].forwardFromChannel;
@ -377,8 +375,31 @@ int servoDirection(int servoIndex, int inputSource)
else
return 1;
}
void servoInit(servoMixer_t *initialCustomServoMixers)
{
customServoMixers = initialCustomServoMixers;
// enable servos for mixes that require them. note, this shifts motor counts.
useServo = mixers[currentMixerMode].useServo;
// if we want camstab/trig, that also enables servos, even if mixer doesn't
if (feature(FEATURE_SERVO_TILT))
useServo = 1;
// give all servos a default command
for (uint8_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
servo[i] = DEFAULT_SERVO_MIDDLE;
}
}
#endif
void mixerInit(mixerMode_e mixerMode, motorMixer_t *initialCustomMixers)
{
currentMixerMode = mixerMode;
customMixers = initialCustomMixers;
}
#ifndef USE_QUAD_MIXER_ONLY
void loadCustomServoMixer(void)
@ -400,25 +421,6 @@ void loadCustomServoMixer(void)
}
}
void mixerInit(mixerMode_e mixerMode, motorMixer_t *initialCustomMotorMixers, servoMixer_t *initialCustomServoMixers)
{
currentMixerMode = mixerMode;
customMixers = initialCustomMotorMixers;
customServoMixers = initialCustomServoMixers;
// enable servos for mixes that require them. note, this shifts motor counts.
useServo = mixers[currentMixerMode].useServo;
// if we want camstab/trig, that also enables servos, even if mixer doesn't
if (feature(FEATURE_SERVO_TILT))
useServo = 1;
// give all servos a default command
for (uint8_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
servo[i] = DEFAULT_SERVO_MIDDLE;
}
}
void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration, bool use_unsyncedPwm)
{
int i;
@ -520,13 +522,6 @@ void mixerLoadMix(int index, motorMixer_t *customMixers)
#else
void mixerInit(mixerMode_e mixerMode, motorMixer_t *initialCustomMixers)
{
currentMixerMode = mixerMode;
customMixers = initialCustomMixers;
}
void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration, bool use_unsyncedPwm)
{
UNUSED(pwmOutputConfiguration);

12
src/main/flight/mixer.h
View file

@ -193,10 +193,6 @@ struct escAndServoConfig_s;
struct rxConfig_s;
void mixerUseConfigs(
#ifdef USE_SERVOS
servoParam_t *servoConfToUse,
struct gimbalConfig_s *gimbalConfigToUse,
#endif
flight3DConfig_t *flight3DConfigToUse,
struct escAndServoConfig_s *escAndServoConfigToUse,
mixerConfig_t *mixerConfigToUse,
@ -206,13 +202,15 @@ void mixerUseConfigs(
void writeAllMotors(int16_t mc);
void mixerLoadMix(int index, motorMixer_t *customMixers);
#ifdef USE_SERVOS
void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers, servoMixer_t *customServoMixers);
void servoInit(servoMixer_t *customServoMixers);
struct servoParam_s;
struct gimbalConfig_s;
void servoUseConfigs(struct servoParam_s *servoConfToUse, struct gimbalConfig_s *gimbalConfigToUse);
void servoMixerLoadMix(int index, servoMixer_t *customServoMixers);
void loadCustomServoMixer(void);
int servoDirection(int servoIndex, int fromChannel);
#else
void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers);
#endif
void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers);
struct pwmOutputConfiguration_s;
void mixerUsePWMOutputConfiguration(struct pwmOutputConfiguration_s *pwmOutputConfiguration, bool use_unsyncedPwm);
void mixerResetDisarmedMotors(void);

5
src/main/main.c
View file

@ -239,10 +239,9 @@ void init(void)
serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL), SERIAL_PORT_NONE);
#endif
#ifdef USE_SERVOS
mixerInit(masterConfig.mixerMode, masterConfig.customMotorMixer, masterConfig.customServoMixer);
#else
mixerInit(masterConfig.mixerMode, masterConfig.customMotorMixer);
#ifdef USE_SERVOS
servoInit(masterConfig.customServoMixer);
#endif
drv_pwm_config_t pwm_params;