From a3ad97b0a4acff8c3e591840af0c0dc667101175 Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Sat, 25 Feb 2017 07:37:53 +0000 Subject: [PATCH] Added profile macros and index functions --- src/main/cms/cms_menu_imu.c | 18 ++-- src/main/config/config_master.h | 22 ++-- src/main/fc/cli.c | 134 ++++++++++++------------- src/main/fc/config.c | 27 +++-- src/main/fc/config.h | 7 +- src/main/fc/fc_msp.c | 6 +- src/main/fc/rc_adjustments.c | 2 +- src/main/io/dashboard.c | 33 +++--- src/main/io/osd.c | 4 +- src/main/target/COLIBRI_RACE/i2c_bst.c | 2 +- 10 files changed, 123 insertions(+), 132 deletions(-) diff --git a/src/main/cms/cms_menu_imu.c b/src/main/cms/cms_menu_imu.c index 5c876d9592..534cac81b1 100644 --- a/src/main/cms/cms_menu_imu.c +++ b/src/main/cms/cms_menu_imu.c @@ -64,7 +64,7 @@ static controlRateConfig_t rateProfile; static long cmsx_menuImu_onEnter(void) { - profileIndex = systemConfig()->current_profile_index; + profileIndex = getCurrentProfileIndex(); tmpProfileIndex = profileIndex + 1; rateProfileIndex = systemConfig()->activeRateProfile; @@ -77,8 +77,8 @@ static long cmsx_menuImu_onExit(const OSD_Entry *self) { UNUSED(self); - systemConfigMutable()->current_profile_index = profileIndex; - systemConfigMutable()->activeRateProfile = rateProfileIndex; + changeProfile(profileIndex); + changeControlRateProfile(rateProfileIndex); return 0; } @@ -106,7 +106,7 @@ static long cmsx_rateProfileIndexOnChange(displayPort_t *displayPort, const void static long cmsx_PidRead(void) { - const pidProfile_t *pidProfile = &masterConfig.profile[profileIndex].pidProfile; + const pidProfile_t *pidProfile = pidProfiles(profileIndex); for (uint8_t i = 0; i < 3; i++) { tempPid[i][0] = pidProfile->P8[i]; tempPid[i][1] = pidProfile->I8[i]; @@ -128,7 +128,7 @@ static long cmsx_PidWriteback(const OSD_Entry *self) { UNUSED(self); - pidProfile_t *pidProfile = &masterConfig.profile[profileIndex].pidProfile; + pidProfile_t *pidProfile = pidProfilesMutable(profileIndex); for (uint8_t i = 0; i < 3; i++) { pidProfile->P8[i] = tempPid[i][0]; pidProfile->I8[i] = tempPid[i][1]; @@ -237,7 +237,7 @@ static long cmsx_profileOtherOnEnter(void) { profileIndexString[1] = '0' + tmpProfileIndex; - const pidProfile_t *pidProfile = &masterConfig.profile[profileIndex].pidProfile; + const pidProfile_t *pidProfile = pidProfiles(profileIndex); cmsx_dtermSetpointWeight = pidProfile->dtermSetpointWeight; cmsx_setpointRelaxRatio = pidProfile->setpointRelaxRatio; @@ -252,7 +252,7 @@ static long cmsx_profileOtherOnExit(const OSD_Entry *self) { UNUSED(self); - pidProfile_t *pidProfile = &masterConfig.profile[profileIndex].pidProfile; + pidProfile_t *pidProfile = pidProfilesMutable(profileIndex); pidProfile->dtermSetpointWeight = cmsx_dtermSetpointWeight; pidProfile->setpointRelaxRatio = cmsx_setpointRelaxRatio; pidInitConfig(¤tProfile->pidProfile); @@ -347,7 +347,7 @@ static uint16_t cmsx_yaw_p_limit; static long cmsx_FilterPerProfileRead(void) { - const pidProfile_t *pidProfile = &masterConfig.profile[profileIndex].pidProfile; + const pidProfile_t *pidProfile = pidProfiles(profileIndex); cmsx_dterm_lpf_hz = pidProfile->dterm_lpf_hz; cmsx_dterm_notch_hz = pidProfile->dterm_notch_hz; cmsx_dterm_notch_cutoff = pidProfile->dterm_notch_cutoff; @@ -361,7 +361,7 @@ static long cmsx_FilterPerProfileWriteback(const OSD_Entry *self) { UNUSED(self); - pidProfile_t *pidProfile = &masterConfig.profile[profileIndex].pidProfile; + pidProfile_t *pidProfile = pidProfilesMutable(profileIndex); pidProfile->dterm_lpf_hz = cmsx_dterm_lpf_hz; pidProfile->dterm_notch_hz = cmsx_dterm_notch_hz; pidProfile->dterm_notch_cutoff = cmsx_dterm_notch_cutoff; diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h index 0ff5b7670e..2d953bb48c 100644 --- a/src/main/config/config_master.h +++ b/src/main/config/config_master.h @@ -174,19 +174,21 @@ #define vtxConfigMutable(x) (&masterConfig.vtxConfig) #define beeperConfigMutable(x) (&masterConfig.beeperConfig) -#define servoParams(x) (&servoProfile()->servoConf[x]) -#define adjustmentRanges(x) (&adjustmentProfile()->adjustmentRanges[x]) -#define rxFailsafeChannelConfigs(x) (&masterConfig.rxConfig.failsafe_channel_configurations[x]) #define osdConfig(x) (&masterConfig.osdProfile) -#define modeActivationConditions(x) (&masterConfig.modeActivationProfile.modeActivationConditions[x]) -#define controlRateProfiles(x) (&masterConfig.controlRateProfile[x]) +#define servoParams(i) (&servoProfile()->servoConf[i]) +#define adjustmentRanges(i) (&adjustmentProfile()->adjustmentRanges[i]) +#define rxFailsafeChannelConfigs(i) (&masterConfig.rxConfig.failsafe_channel_configurations[i]) +#define modeActivationConditions(i) (&masterConfig.modeActivationProfile.modeActivationConditions[i]) +#define controlRateProfiles(i) (&masterConfig.controlRateProfile[i]) +#define pidProfiles(i) (&masterConfig.profile[i].pidProfile) -#define servoParamsMutable(x) (&servoProfile()->servoConf[x]) -#define adjustmentRangesMutable(x) (&masterConfig.adjustmentProfile.adjustmentRanges[x]) -#define rxFailsafeChannelConfigsMutable(x) (&masterConfig.rxConfig.>failsafe_channel_configurations[x]) #define osdConfigMutable(x) (&masterConfig.osdProfile) -#define modeActivationConditionsMutable(x) (&masterConfig.modeActivationProfile.modeActivationConditions[x]) -#define controlRateProfilesMutable(x) (&masterConfig.controlRateProfile[x]) +#define servoParamsMutable(i) (&servoProfile()->servoConf[i]) +#define adjustmentRangesMutable(i) (&masterConfig.adjustmentProfile.adjustmentRanges[i]) +#define rxFailsafeChannelConfigsMutable(i) (&masterConfig.rxConfig.>failsafe_channel_configurations[i]) +#define modeActivationConditionsMutable(i) (&masterConfig.modeActivationProfile.modeActivationConditions[i]) +#define controlRateProfilesMutable(i) (&masterConfig.controlRateProfile[i]) +#define pidProfilesMutable(i) (&masterConfig.profile[i].pidProfile) #endif // System-wide diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c index 35c847d7ef..dcc08c6eb8 100755 --- a/src/main/fc/cli.c +++ b/src/main/fc/cli.c @@ -612,15 +612,15 @@ static const clivalue_t valueTable[] = { { "gps_auto_config", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gpsConfig()->autoConfig, .config.lookup = { TABLE_OFF_ON } }, { "gps_auto_baud", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gpsConfig()->autoBaud, .config.lookup = { TABLE_OFF_ON } }, - { "gps_pos_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDPOS], .config.minmax = { 0, 200 } }, - { "gps_pos_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDPOS], .config.minmax = { 0, 200 } }, - { "gps_pos_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDPOS], .config.minmax = { 0, 200 } }, - { "gps_posr_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDPOSR], .config.minmax = { 0, 200 } }, - { "gps_posr_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDPOSR], .config.minmax = { 0, 200 } }, - { "gps_posr_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDPOSR], .config.minmax = { 0, 200 } }, - { "gps_nav_p", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDNAVR], .config.minmax = { 0, 200 } }, - { "gps_nav_i", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDNAVR], .config.minmax = { 0, 200 } }, - { "gps_nav_d", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDNAVR], .config.minmax = { 0, 200 } }, + { "gps_pos_p", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->P8[PIDPOS], .config.minmax = { 0, 200 } }, + { "gps_pos_i", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->I8[PIDPOS], .config.minmax = { 0, 200 } }, + { "gps_pos_d", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->D8[PIDPOS], .config.minmax = { 0, 200 } }, + { "gps_posr_p", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->P8[PIDPOSR], .config.minmax = { 0, 200 } }, + { "gps_posr_i", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->I8[PIDPOSR], .config.minmax = { 0, 200 } }, + { "gps_posr_d", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->D8[PIDPOSR], .config.minmax = { 0, 200 } }, + { "gps_nav_p", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->P8[PIDNAVR], .config.minmax = { 0, 200 } }, + { "gps_nav_i", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->I8[PIDNAVR], .config.minmax = { 0, 200 } }, + { "gps_nav_d", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->D8[PIDNAVR], .config.minmax = { 0, 200 } }, { "gps_wp_radius", VAR_UINT16 | MASTER_VALUE, &gpsProfile()->gps_wp_radius, .config.minmax = { 0, 2000 } }, { "nav_controls_heading", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gpsProfile()->nav_controls_heading, .config.lookup = { TABLE_OFF_ON } }, { "nav_speed_min", VAR_UINT16 | MASTER_VALUE, &gpsProfile()->nav_speed_min, .config.minmax = { 10, 2000 } }, @@ -714,8 +714,8 @@ static const clivalue_t valueTable[] = { { "yaw_control_direction", VAR_INT8 | MASTER_VALUE, &rcControlsConfig()->yaw_control_direction, .config.minmax = { -1, 1 } }, { "yaw_motor_direction", VAR_INT8 | MASTER_VALUE, &mixerConfig()->yaw_motor_direction, .config.minmax = { -1, 1 } }, - { "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } }, - { "pidsum_limit", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidSumLimit, .config.minmax = { 0.1, 1.0 } }, + { "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &pidProfiles(0)->yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } }, + { "pidsum_limit", VAR_FLOAT | PROFILE_VALUE, &pidProfiles(0)->pidSumLimit, .config.minmax = { 0.1, 1.0 } }, #ifdef USE_SERVOS { "servo_center_pulse", VAR_UINT16 | MASTER_VALUE, &servoConfig()->dev.servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } }, { "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &servoConfig()->tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON } }, @@ -768,47 +768,47 @@ static const clivalue_t valueTable[] = { { "mag_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &compassConfig()->mag_hardware, .config.lookup = { TABLE_MAG_HARDWARE } }, { "mag_declination", VAR_INT16 | MASTER_VALUE, &compassConfig()->mag_declination, .config.minmax = { -18000, 18000 } }, #endif - { "d_lowpass_type", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.dterm_filter_type, .config.lookup = { TABLE_LOWPASS_TYPE } }, - { "d_lowpass", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 16000 } }, - { "d_notch_hz", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_hz, .config.minmax = { 0, 16000 } }, - { "d_notch_cut", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_cutoff, .config.minmax = { 1, 16000 } }, - { "vbat_pid_gain", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.vbatPidCompensation, .config.lookup = { TABLE_OFF_ON } }, - { "pid_at_min_throttle", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidAtMinThrottle, .config.lookup = { TABLE_OFF_ON } }, - { "anti_gravity_thresh", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermThrottleThreshold, .config.minmax = {20, 1000 } }, - { "anti_gravity_gain", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermAcceleratorGain, .config.minmax = {1, 30 } }, - { "setpoint_relax_ratio", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.setpointRelaxRatio, .config.minmax = {0, 100 } }, - { "d_setpoint_weight", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dtermSetpointWeight, .config.minmax = {0, 254 } }, - { "yaw_accel_limit", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawRateAccelLimit, .config.minmax = {0.1f, 50.0f } }, - { "accel_limit", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rateAccelLimit, .config.minmax = {0.1f, 50.0f } }, + { "d_lowpass_type", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &pidProfiles(0)->dterm_filter_type, .config.lookup = { TABLE_LOWPASS_TYPE } }, + { "d_lowpass", VAR_INT16 | PROFILE_VALUE, &pidProfiles(0)->dterm_lpf_hz, .config.minmax = {0, 16000 } }, + { "d_notch_hz", VAR_UINT16 | PROFILE_VALUE, &pidProfiles(0)->dterm_notch_hz, .config.minmax = { 0, 16000 } }, + { "d_notch_cut", VAR_UINT16 | PROFILE_VALUE, &pidProfiles(0)->dterm_notch_cutoff, .config.minmax = { 1, 16000 } }, + { "vbat_pid_gain", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &pidProfiles(0)->vbatPidCompensation, .config.lookup = { TABLE_OFF_ON } }, + { "pid_at_min_throttle", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &pidProfiles(0)->pidAtMinThrottle, .config.lookup = { TABLE_OFF_ON } }, + { "anti_gravity_thresh", VAR_UINT16 | PROFILE_VALUE, &pidProfiles(0)->itermThrottleThreshold, .config.minmax = {20, 1000 } }, + { "anti_gravity_gain", VAR_FLOAT | PROFILE_VALUE, &pidProfiles(0)->itermAcceleratorGain, .config.minmax = {1, 30 } }, + { "setpoint_relax_ratio", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->setpointRelaxRatio, .config.minmax = {0, 100 } }, + { "d_setpoint_weight", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->dtermSetpointWeight, .config.minmax = {0, 254 } }, + { "yaw_accel_limit", VAR_FLOAT | PROFILE_VALUE, &pidProfiles(0)->yawRateAccelLimit, .config.minmax = {0.1f, 50.0f } }, + { "accel_limit", VAR_FLOAT | PROFILE_VALUE, &pidProfiles(0)->rateAccelLimit, .config.minmax = {0.1f, 50.0f } }, - { "iterm_windup", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermWindupPointPercent, .config.minmax = {30, 100 } }, - { "yaw_lowpass", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_lpf_hz, .config.minmax = {0, 500 } }, + { "iterm_windup", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->itermWindupPointPercent, .config.minmax = {30, 100 } }, + { "yaw_lowpass", VAR_UINT16 | PROFILE_VALUE, &pidProfiles(0)->yaw_lpf_hz, .config.minmax = {0, 500 } }, { "pid_process_denom", VAR_UINT8 | MASTER_VALUE, &pidConfig()->pid_process_denom, .config.minmax = { 1, MAX_PID_PROCESS_DENOM } }, - { "p_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PITCH], .config.minmax = { 0, 200 } }, - { "i_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PITCH], .config.minmax = { 0, 200 } }, - { "d_pitch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PITCH], .config.minmax = { 0, 200 } }, - { "p_roll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[ROLL], .config.minmax = { 0, 200 } }, - { "i_roll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[ROLL], .config.minmax = { 0, 200 } }, - { "d_roll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[ROLL], .config.minmax = { 0, 200 } }, - { "p_yaw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[YAW], .config.minmax = { 0, 200 } }, - { "i_yaw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[YAW], .config.minmax = { 0, 200 } }, - { "d_yaw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[YAW], .config.minmax = { 0, 200 } }, + { "p_pitch", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->P8[PITCH], .config.minmax = { 0, 200 } }, + { "i_pitch", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->I8[PITCH], .config.minmax = { 0, 200 } }, + { "d_pitch", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->D8[PITCH], .config.minmax = { 0, 200 } }, + { "p_roll", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->P8[ROLL], .config.minmax = { 0, 200 } }, + { "i_roll", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->I8[ROLL], .config.minmax = { 0, 200 } }, + { "d_roll", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->D8[ROLL], .config.minmax = { 0, 200 } }, + { "p_yaw", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->P8[YAW], .config.minmax = { 0, 200 } }, + { "i_yaw", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->I8[YAW], .config.minmax = { 0, 200 } }, + { "d_yaw", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->D8[YAW], .config.minmax = { 0, 200 } }, - { "p_alt", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDALT], .config.minmax = { 0, 200 } }, - { "i_alt", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDALT], .config.minmax = { 0, 200 } }, - { "d_alt", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDALT], .config.minmax = { 0, 200 } }, + { "p_alt", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->P8[PIDALT], .config.minmax = { 0, 200 } }, + { "i_alt", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->I8[PIDALT], .config.minmax = { 0, 200 } }, + { "d_alt", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->D8[PIDALT], .config.minmax = { 0, 200 } }, - { "p_level", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDLEVEL], .config.minmax = { 0, 200 } }, - { "i_level", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDLEVEL], .config.minmax = { 0, 200 } }, - { "d_level", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDLEVEL], .config.minmax = { 0, 200 } }, + { "p_level", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->P8[PIDLEVEL], .config.minmax = { 0, 200 } }, + { "i_level", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->I8[PIDLEVEL], .config.minmax = { 0, 200 } }, + { "d_level", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->D8[PIDLEVEL], .config.minmax = { 0, 200 } }, - { "p_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDVEL], .config.minmax = { 0, 200 } }, - { "i_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDVEL], .config.minmax = { 0, 200 } }, - { "d_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], .config.minmax = { 0, 200 } }, + { "p_vel", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->P8[PIDVEL], .config.minmax = { 0, 200 } }, + { "i_vel", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->I8[PIDVEL], .config.minmax = { 0, 200 } }, + { "d_vel", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->D8[PIDVEL], .config.minmax = { 0, 200 } }, - { "level_sensitivity", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.levelSensitivity, .config.minmax = { 10, 200 } }, - { "level_limit", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.levelAngleLimit, .config.minmax = { 10, 120 } }, + { "level_sensitivity", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->levelSensitivity, .config.minmax = { 10, 200 } }, + { "level_limit", VAR_UINT8 | PROFILE_VALUE, &pidProfiles(0)->levelAngleLimit, .config.minmax = { 10, 120 } }, #ifdef BLACKBOX { "blackbox_rate_num", VAR_UINT8 | MASTER_VALUE, &blackboxConfig()->rate_num, .config.minmax = { 1, 32 } }, @@ -1304,7 +1304,7 @@ static uint16_t getValueOffset(const clivalue_t *value) case PROFILE_VALUE: return value->offset; case PROFILE_RATE_VALUE: - return value->offset + sizeof(controlRateConfig_t) * getCurrentControlRateProfile(); + return value->offset + sizeof(controlRateConfig_t) * getCurrentControlRateProfileIndex(); } return 0; } @@ -1318,7 +1318,7 @@ static void *getValuePointer(const clivalue_t *value) case PROFILE_VALUE: return rec->address + value->offset; case PROFILE_RATE_VALUE: - return rec->address + value->offset + sizeof(controlRateConfig_t) * getCurrentControlRateProfile(); + return rec->address + value->offset + sizeof(controlRateConfig_t) * getCurrentControlRateProfileIndex(); } return NULL; } @@ -1370,7 +1370,7 @@ void *getValuePointer(const clivalue_t *value) } if ((value->type & VALUE_SECTION_MASK) == PROFILE_RATE_VALUE) { - ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * systemConfig()->current_profile_index) + (sizeof(controlRateConfig_t) * getCurrentControlRateProfile()); + ptr = ((uint8_t *)ptr) + (sizeof(profile_t) * systemConfig()->current_profile_index) + (sizeof(controlRateConfig_t) * getCurrentControlRateProfileIndex()); } return ptr; @@ -3402,7 +3402,7 @@ static void cliPlaySound(char *cmdline) static void cliProfile(char *cmdline) { if (isEmpty(cmdline)) { - cliPrintf("profile %d\r\n", getCurrentProfile()); + cliPrintf("profile %d\r\n", getCurrentProfileIndex()); return; } else { const int i = atoi(cmdline); @@ -3418,7 +3418,7 @@ static void cliProfile(char *cmdline) static void cliRateProfile(char *cmdline) { if (isEmpty(cmdline)) { - cliPrintf("rateprofile %d\r\n", getCurrentControlRateProfile()); + cliPrintf("rateprofile %d\r\n", getCurrentControlRateProfileIndex()); return; } else { const int i = atoi(cmdline); @@ -4127,38 +4127,36 @@ static void printConfig(char *cmdline, bool doDiff) dumpValues(MASTER_VALUE, dumpMask, &defaultConfig); if (dumpMask & DUMP_ALL) { - const uint8_t activeProfile = systemConfig()->current_profile_index; - for (uint32_t profileCount=0; profileCountactiveRateProfile; - for (uint32_t rateCount = 0; rateCount < MAX_RATEPROFILES; rateCount++) { - cliDumpRateProfile(rateCount, dumpMask, &defaultConfig); - } - - changeControlRateProfile(currentRateIndex); - cliPrintHashLine("restore original rateprofile selection"); - cliRateProfile(""); + const uint8_t profileIndexSave = getCurrentProfileIndex(); + for (uint32_t profileIndex = 0; profileIndex < MAX_PROFILE_COUNT; profileIndex++) { + cliDumpProfile(profileIndex, dumpMask, &defaultConfig); } - - changeProfile(activeProfile); + changeProfile(profileIndexSave); cliPrintHashLine("restore original profile selection"); cliProfile(""); + const uint8_t controlRateProfileIndexSave = getCurrentControlRateProfileIndex(); + for (uint32_t rateIndex = 0; rateIndex < MAX_RATEPROFILES; rateIndex++) { + cliDumpRateProfile(rateIndex, dumpMask, &defaultConfig); + } + changeControlRateProfile(controlRateProfileIndexSave); + cliPrintHashLine("restore original rateprofile selection"); + cliRateProfile(""); + cliPrintHashLine("save configuration"); cliPrint("save"); } else { - cliDumpProfile(systemConfig()->current_profile_index, dumpMask, &defaultConfig); - cliDumpRateProfile(systemConfig()->activeRateProfile, dumpMask, &defaultConfig); + cliDumpProfile(getCurrentProfileIndex(), dumpMask, &defaultConfig); + cliDumpRateProfile(getCurrentControlRateProfileIndex(), dumpMask, &defaultConfig); } } if (dumpMask & DUMP_PROFILE) { - cliDumpProfile(systemConfig()->current_profile_index, dumpMask, &defaultConfig); + cliDumpProfile(getCurrentProfileIndex(), dumpMask, &defaultConfig); } if (dumpMask & DUMP_RATES) { - cliDumpRateProfile(systemConfig()->activeRateProfile, dumpMask, &defaultConfig); + cliDumpRateProfile(getCurrentControlRateProfileIndex(), dumpMask, &defaultConfig); } #ifdef USE_PARAMETER_GROUPS // restore configs from copies diff --git a/src/main/fc/config.c b/src/main/fc/config.c index 41440c8895..f4a6162fce 100755 --- a/src/main/fc/config.c +++ b/src/main/fc/config.c @@ -107,7 +107,6 @@ master_t masterConfig; // master config struct with data independent from profiles profile_t *currentProfile; -static uint8_t currentControlRateProfileIndex = 0; controlRateConfig_t *currentControlRateProfile; #ifndef USE_PARAMETER_GROUPS @@ -715,32 +714,30 @@ void resetFlashConfig(flashConfig_t *flashConfig) } #endif -uint8_t getCurrentProfile(void) +uint8_t getCurrentProfileIndex(void) { return systemConfig()->current_profile_index; -; } static void setProfile(uint8_t profileIndex) { - currentProfile = &masterConfig.profile[profileIndex]; + if (profileIndex < MAX_PROFILE_COUNT) { + systemConfigMutable()->current_profile_index = profileIndex; + currentProfile = &masterConfig.profile[profileIndex]; + } } -uint8_t getCurrentControlRateProfile(void) +uint8_t getCurrentControlRateProfileIndex(void) { - return currentControlRateProfileIndex; + return systemConfigMutable()->activeRateProfile; } static void setControlRateProfile(uint8_t controlRateProfileIndex) { - systemConfigMutable()->activeRateProfile = controlRateProfileIndex; - currentControlRateProfileIndex = controlRateProfileIndex; - currentControlRateProfile = controlRateProfilesMutable(controlRateProfileIndex); -} - -const controlRateConfig_t *getControlRateConfig(uint8_t controlRateProfileIndex) -{ - return controlRateProfiles(controlRateProfileIndex); + if (controlRateProfileIndex < MAX_CONTROL_RATE_PROFILE_COUNT) { + systemConfigMutable()->activeRateProfile = controlRateProfileIndex; + currentControlRateProfile = controlRateProfilesMutable(controlRateProfileIndex); + } } uint16_t getCurrentMinthrottle(void) @@ -1256,7 +1253,7 @@ void readEEPROM(void) failureMode(FAILURE_INVALID_EEPROM_CONTENTS); } -// pgActivateProfile(getCurrentProfile()); +// pgActivateProfile(getCurrentProfileIndex()); // setControlRateProfile(rateProfileSelection()->defaultRateProfileIndex); if (systemConfig()->current_profile_index > MAX_PROFILE_COUNT - 1) {// sanity check diff --git a/src/main/fc/config.h b/src/main/fc/config.h index 6303b4a7c2..2921d95005 100644 --- a/src/main/fc/config.h +++ b/src/main/fc/config.h @@ -101,8 +101,6 @@ void setBeeperOffMask(uint32_t mask); uint32_t getPreferredBeeperOffMask(void); void setPreferredBeeperOffMask(uint32_t mask); -void copyCurrentProfileToProfileSlot(uint8_t profileSlotIndex); - void initEEPROM(void); void resetEEPROM(void); void readEEPROM(void); @@ -114,13 +112,14 @@ void validateAndFixConfig(void); void validateAndFixGyroConfig(void); void activateConfig(void); -uint8_t getCurrentProfile(void); +uint8_t getCurrentProfileIndex(void); void changeProfile(uint8_t profileIndex); struct profile_s; void resetProfile(struct profile_s *profile); -uint8_t getCurrentControlRateProfile(void); +uint8_t getCurrentControlRateProfileIndex(void); void changeControlRateProfile(uint8_t profileIndex); + bool canSoftwareSerialBeUsed(void); uint16_t getCurrentMinthrottle(void); diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c index 21cd1673a2..dbfa2407da 100755 --- a/src/main/fc/fc_msp.c +++ b/src/main/fc/fc_msp.c @@ -612,10 +612,10 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn #endif sbufWriteU16(dst, sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4); sbufWriteU32(dst, packFlightModeFlags()); - sbufWriteU8(dst, getCurrentProfile()); + sbufWriteU8(dst, getCurrentProfileIndex()); sbufWriteU16(dst, constrain(averageSystemLoadPercent, 0, 100)); sbufWriteU8(dst, MAX_PROFILE_COUNT); - sbufWriteU8(dst, getCurrentControlRateProfile()); + sbufWriteU8(dst, getCurrentControlRateProfileIndex()); break; case MSP_NAME: @@ -636,7 +636,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn #endif sbufWriteU16(dst, sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4); sbufWriteU32(dst, packFlightModeFlags()); - sbufWriteU8(dst, systemConfig()->current_profile_index); + sbufWriteU8(dst, getCurrentProfileIndex()); sbufWriteU16(dst, constrain(averageSystemLoadPercent, 0, 100)); sbufWriteU16(dst, 0); // gyro cycle time break; diff --git a/src/main/fc/rc_adjustments.c b/src/main/fc/rc_adjustments.c index 31c365a28a..b73ab222c9 100644 --- a/src/main/fc/rc_adjustments.c +++ b/src/main/fc/rc_adjustments.c @@ -362,7 +362,7 @@ static void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position) switch(adjustmentFunction) { case ADJUSTMENT_RATE_PROFILE: - if (getCurrentControlRateProfile() != position) { + if (getCurrentControlRateProfileIndex() != position) { changeControlRateProfile(position); blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RATE_PROFILE, position); applied = true; diff --git a/src/main/io/dashboard.c b/src/main/io/dashboard.c index 0a38cfe88f..f4302bfbba 100644 --- a/src/main/io/dashboard.c +++ b/src/main/io/dashboard.c @@ -42,11 +42,10 @@ #include "common/axis.h" #include "common/typeconversion.h" -#include "sensors/battery.h" -#include "sensors/sensors.h" -#include "sensors/compass.h" -#include "sensors/acceleration.h" -#include "sensors/gyro.h" +#include "config/feature.h" +#include "config/config_profile.h" +#include "config/parameter_group.h" +#include "config/parameter_group_ids.h" #include "fc/config.h" #include "fc/rc_controls.h" @@ -55,26 +54,22 @@ #include "flight/pid.h" #include "flight/imu.h" #include "flight/failsafe.h" - -#include "io/displayport_oled.h" - -#ifdef GPS -#include "io/gps.h" #include "flight/navigation.h" -#endif - -#include "config/feature.h" -#include "config/config_profile.h" +#include "io/gps.h" #include "io/dashboard.h" +#include "io/displayport_oled.h" #include "rx/rx.h" #include "scheduler/scheduler.h" -extern profile_t *currentProfile; +#include "sensors/acceleration.h" +#include "sensors/battery.h" +#include "sensors/compass.h" +#include "sensors/gyro.h" +#include "sensors/sensors.h" -controlRateConfig_t *getControlRateConfig(uint8_t profileIndex); #define MICROSECONDS_IN_A_SECOND (1000 * 1000) @@ -321,7 +316,7 @@ void showProfilePage(void) { uint8_t rowIndex = PAGE_TITLE_LINE_COUNT; - tfp_sprintf(lineBuffer, "Profile: %d", getCurrentProfile()); + tfp_sprintf(lineBuffer, "Profile: %d", getCurrentProfileIndex()); i2c_OLED_set_line(rowIndex++); i2c_OLED_send_string(lineBuffer); @@ -339,12 +334,12 @@ void showProfilePage(void) i2c_OLED_send_string(lineBuffer); } - const uint8_t currentRateProfileIndex = getCurrentControlRateProfile(); + const uint8_t currentRateProfileIndex = getCurrentControlRateProfileIndex(); tfp_sprintf(lineBuffer, "Rate profile: %d", currentRateProfileIndex); i2c_OLED_set_line(rowIndex++); i2c_OLED_send_string(lineBuffer); - const controlRateConfig_t *controlRateConfig = getControlRateConfig(currentRateProfileIndex); + const controlRateConfig_t *controlRateConfig = controlRateProfiles(currentRateProfileIndex); tfp_sprintf(lineBuffer, "RCE: %d, RCR: %d", controlRateConfig->rcExpo8, controlRateConfig->rcRate8 diff --git a/src/main/io/osd.c b/src/main/io/osd.c index b2a07f7c2f..033ede387b 100755 --- a/src/main/io/osd.c +++ b/src/main/io/osd.c @@ -393,8 +393,8 @@ static void osdDrawSingleElement(uint8_t item) case OSD_PIDRATE_PROFILE: { - const uint8_t profileIndex = systemConfig()->current_profile_index; - const uint8_t rateProfileIndex = systemConfig()->activeRateProfile; + const uint8_t profileIndex = getCurrentProfileIndex(); + const uint8_t rateProfileIndex = getCurrentControlRateProfileIndex(); sprintf(buff, "%d-%d", profileIndex + 1, rateProfileIndex + 1); break; } diff --git a/src/main/target/COLIBRI_RACE/i2c_bst.c b/src/main/target/COLIBRI_RACE/i2c_bst.c index e9f8c64146..f2685796a5 100644 --- a/src/main/target/COLIBRI_RACE/i2c_bst.c +++ b/src/main/target/COLIBRI_RACE/i2c_bst.c @@ -598,7 +598,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest) junk |= 1 << i; } bstWrite32(junk); - bstWrite8(systemConfig()->current_profile_index); + bstWrite8(getCurrentProfileIndex()); break; case BST_RAW_IMU: {