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Code Issues Wiki Activity

Remove config.c's dependencies on the mw.h/board.h files. Moved some RX

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code into rx_common.c. Moved some GPS code into gps_common.c.  Isolated
some GPS functions into gps_common.c that were called from mw.c/loop().
moved gimbal defines into gimbal.h.  Moved sound & light code into
statusindicator.c
This commit is contained in:
Dominic Clifton 2014-04-18 12:13:37 +01:00
parent 8477b45061
commit a85bfa51e3
20 changed files with 232 additions and 166 deletions
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76
src/config.c
View file

@ -1,16 +1,33 @@
#include "board.h"
#include "flight_common.h"
#include "mw.h"
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include "platform.h"
#include "common/axis.h"
#include "flight_common.h"
#include "drivers/system_common.h"
#include "statusindicator.h"
#include "sensors_acceleration.h"
#include "telemetry_common.h"
#include "gps_common.h"
#include "config_storage.h"
#include "config.h"
#include "drivers/serial_common.h"
#include "flight_mixer.h"
#include "sensors_common.h"
#include "boardalignment.h"
#include "battery.h"
#include "gimbal.h"
#include "rx_common.h"
#include "gps_common.h"
#include "runtime_config.h"
#include "config.h"
#include "config_storage.h"
void setPIDController(int type); // FIXME PID code needs to be in flight_pid.c/h
#ifndef FLASH_PAGE_COUNT
#define FLASH_PAGE_COUNT 128
@ -21,22 +38,10 @@
master_t mcfg; // master config struct with data independent from profiles
config_t cfg; // profile config struct
const char rcChannelLetters[] = "AERT1234";
static const uint8_t EEPROM_CONF_VERSION = 62;
static void resetConf(void);
void parseRcChannels(const char *input)
{
const char *c, *s;
for (c = input; *c; c++) {
s = strchr(rcChannelLetters, *c);
if (s)
mcfg.rxConfig.rcmap[s - rcChannelLetters] = c - input;
}
}
static uint8_t validEEPROM(void)
{
const master_t *temp = (const master_t *)FLASH_WRITE_ADDR;
@ -65,8 +70,6 @@ static uint8_t validEEPROM(void)
void readEEPROM(void)
{
uint8_t i;
// Sanity check
if (!validEEPROM())
failureMode(10);
@ -78,19 +81,8 @@ void readEEPROM(void)
mcfg.current_profile = 0;
memcpy(&cfg, &mcfg.profile[mcfg.current_profile], sizeof(config_t));
for (i = 0; i < PITCH_LOOKUP_LENGTH; i++)
lookupPitchRollRC[i] = (2500 + cfg.rcExpo8 * (i * i - 25)) * i * (int32_t) cfg.rcRate8 / 2500;
for (i = 0; i < THROTTLE_LOOKUP_LENGTH; i++) {
int16_t tmp = 10 * i - cfg.thrMid8;
uint8_t y = 1;
if (tmp > 0)
y = 100 - cfg.thrMid8;
if (tmp < 0)
y = cfg.thrMid8;
lookupThrottleRC[i] = 10 * cfg.thrMid8 + tmp * (100 - cfg.thrExpo8 + (int32_t) cfg.thrExpo8 * (tmp * tmp) / (y * y)) / 10;
lookupThrottleRC[i] = mcfg.minthrottle + (int32_t) (mcfg.maxthrottle - mcfg.minthrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE]
}
generatePitchCurve(&cfg.controlRateConfig);
generateThrottleCurve(&cfg.controlRateConfig, mcfg.minthrottle, mcfg.maxthrottle);
setPIDController(cfg.pidController);
gpsSetPIDs();
@ -150,7 +142,7 @@ retry:
// re-read written data
readEEPROM();
if (b)
blinkLED(15, 20, 1);
blinkLedAndSoundBeeper(15, 20, 1);
}
void checkFirstTime(bool reset)
@ -260,14 +252,14 @@ static void resetConf(void)
cfg.P8[PIDVEL] = 120;
cfg.I8[PIDVEL] = 45;
cfg.D8[PIDVEL] = 1;
cfg.rcRate8 = 90;
cfg.rcExpo8 = 65;
cfg.rollPitchRate = 0;
cfg.yawRate = 0;
cfg.controlRateConfig.rcRate8 = 90;
cfg.controlRateConfig.rcExpo8 = 65;
cfg.controlRateConfig.rollPitchRate = 0;
cfg.controlRateConfig.yawRate = 0;
cfg.dynThrPID = 0;
cfg.tpaBreakPoint = 1500;
cfg.thrMid8 = 50;
cfg.thrExpo8 = 0;
cfg.controlRateConfig.thrMid8 = 50;
cfg.controlRateConfig.thrExpo8 = 0;
// for (i = 0; i < CHECKBOXITEMS; i++)
// cfg.activate[i] = 0;
cfg.angleTrim[0] = 0;
@ -283,7 +275,7 @@ static void resetConf(void)
cfg.acc_unarmedcal = 1;
// Radio
parseRcChannels("AETR1234");
parseRcChannels("AETR1234", &mcfg.rxConfig);
cfg.deadband = 0;
cfg.yawdeadband = 0;
cfg.alt_hold_throttle_neutral = 40;
@ -324,7 +316,7 @@ static void resetConf(void)
mcfg.reboot_character = 'R';
// custom mixer. clear by defaults.
for (i = 0; i < MAX_MOTORS; i++)
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
mcfg.customMixer[i].throttle = 0.0f;
// copy default config into all 3 profiles