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https://github.com/betaflight/betaflight.git
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Changed defines for GYRO/ACC/MAG/BARO/GPS/SONAR/OSD/BLACKBOX/CMS to conform to the USE_ convention.
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mikeller
parent
62c5711ce7
commit
a8d34dabb0
152 changed files with 589 additions and 588 deletions
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@ -22,7 +22,7 @@
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#include "platform.h"
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#ifdef BLACKBOX
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#ifdef USE_BLACKBOX
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#include "blackbox.h"
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#include "blackbox_encoding.h"
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@ -187,15 +187,15 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
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{"vbatLatest", -1, UNSIGNED, .Ipredict = PREDICT(VBATREF), .Iencode = ENCODING(NEG_14BIT), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_VBAT},
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{"amperageLatest",-1, UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_AMPERAGE_ADC},
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#ifdef MAG
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#ifdef USE_MAG
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{"magADC", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_MAG},
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{"magADC", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_MAG},
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{"magADC", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_MAG},
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#endif
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#ifdef BARO
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#ifdef USE_BARO
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{"BaroAlt", -1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_BARO},
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#endif
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#ifdef SONAR
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#ifdef USE_SONAR
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{"sonarRaw", -1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_SONAR},
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#endif
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{"rssi", -1, UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_RSSI},
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@ -226,7 +226,7 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
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{"servo", 5, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(TRICOPTER)}
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};
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#ifdef GPS
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#ifdef USE_GPS
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// GPS position/vel frame
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static const blackboxConditionalFieldDefinition_t blackboxGpsGFields[] = {
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{"time", -1, UNSIGNED, PREDICT(LAST_MAIN_FRAME_TIME), ENCODING(UNSIGNED_VB), CONDITION(NOT_LOGGING_EVERY_FRAME)},
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@ -291,13 +291,13 @@ typedef struct blackboxMainState_s {
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uint16_t vbatLatest;
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uint16_t amperageLatest;
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#ifdef BARO
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#ifdef USE_BARO
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int32_t BaroAlt;
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#endif
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#ifdef MAG
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#ifdef USE_MAG
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int16_t magADC[XYZ_AXIS_COUNT];
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#endif
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#ifdef SONAR
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#ifdef USE_SONAR
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int32_t sonarRaw;
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#endif
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uint16_t rssi;
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@ -412,14 +412,14 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
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return currentPidProfile->pid[condition - FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0].D != 0;
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case FLIGHT_LOG_FIELD_CONDITION_MAG:
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#ifdef MAG
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#ifdef USE_MAG
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return sensors(SENSOR_MAG);
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#else
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return false;
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#endif
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case FLIGHT_LOG_FIELD_CONDITION_BARO:
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#ifdef BARO
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#ifdef USE_BARO
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return sensors(SENSOR_BARO);
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#else
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return false;
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@ -432,7 +432,7 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
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return batteryConfig()->currentMeterSource == CURRENT_METER_ADC;
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case FLIGHT_LOG_FIELD_CONDITION_SONAR:
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#ifdef SONAR
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#ifdef USE_SONAR
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return feature(FEATURE_SONAR);
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#else
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return false;
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@ -550,19 +550,19 @@ static void writeIntraframe(void)
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blackboxWriteUnsignedVB(blackboxCurrent->amperageLatest);
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}
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#ifdef MAG
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#ifdef USE_MAG
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if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_MAG)) {
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blackboxWriteSigned16VBArray(blackboxCurrent->magADC, XYZ_AXIS_COUNT);
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}
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#endif
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#ifdef BARO
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#ifdef USE_BARO
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if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_BARO)) {
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blackboxWriteSignedVB(blackboxCurrent->BaroAlt);
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}
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#endif
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#ifdef SONAR
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#ifdef USE_SONAR
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if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_SONAR)) {
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blackboxWriteSignedVB(blackboxCurrent->sonarRaw);
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}
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@ -678,7 +678,7 @@ static void writeInterframe(void)
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deltas[optionalFieldCount++] = (int32_t) blackboxCurrent->amperageLatest - blackboxLast->amperageLatest;
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}
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#ifdef MAG
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#ifdef USE_MAG
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if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_MAG)) {
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for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
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deltas[optionalFieldCount++] = blackboxCurrent->magADC[x] - blackboxLast->magADC[x];
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@ -686,13 +686,13 @@ static void writeInterframe(void)
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}
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#endif
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#ifdef BARO
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#ifdef USE_BARO
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if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_BARO)) {
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deltas[optionalFieldCount++] = blackboxCurrent->BaroAlt - blackboxLast->BaroAlt;
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}
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#endif
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#ifdef SONAR
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#ifdef USE_SONAR
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if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_SONAR)) {
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deltas[optionalFieldCount++] = blackboxCurrent->sonarRaw - blackboxLast->sonarRaw;
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}
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@ -933,7 +933,7 @@ bool inMotorTestMode(void) {
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return false;
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}
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#ifdef GPS
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#ifdef USE_GPS
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static void writeGPSHomeFrame(void)
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{
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blackboxWrite('H');
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@ -990,7 +990,7 @@ static void loadMainState(timeUs_t currentTimeUs)
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blackboxCurrent->axisPID_D[i] = axisPID_D[i];
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blackboxCurrent->gyroADC[i] = lrintf(gyro.gyroADCf[i]);
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blackboxCurrent->accSmooth[i] = acc.accSmooth[i];
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#ifdef MAG
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#ifdef USE_MAG
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blackboxCurrent->magADC[i] = mag.magADC[i];
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#endif
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}
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@ -1011,11 +1011,11 @@ static void loadMainState(timeUs_t currentTimeUs)
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blackboxCurrent->vbatLatest = getBatteryVoltageLatest();
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blackboxCurrent->amperageLatest = getAmperageLatest();
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#ifdef BARO
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#ifdef USE_BARO
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blackboxCurrent->BaroAlt = baro.BaroAlt;
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#endif
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#ifdef SONAR
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#ifdef USE_SONAR
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// Store the raw sonar value without applying tilt correction
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blackboxCurrent->sonarRaw = sonarRead();
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#endif
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@ -1387,7 +1387,7 @@ STATIC_UNIT_TESTED bool blackboxShouldLogIFrame(void)
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* We write it periodically so that if one Home Frame goes missing, the GPS coordinates can
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* still be interpreted correctly.
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*/
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#ifdef GPS
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#ifdef USE_GPS
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STATIC_UNIT_TESTED bool blackboxShouldLogGpsHomeFrame(void)
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{
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if (GPS_home[0] != gpsHistory.GPS_home[0] || GPS_home[1] != gpsHistory.GPS_home[1]
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@ -1442,7 +1442,7 @@ STATIC_UNIT_TESTED void blackboxLogIteration(timeUs_t currentTimeUs)
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loadMainState(currentTimeUs);
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writeInterframe();
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}
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#ifdef GPS
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#ifdef USE_GPS
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if (feature(FEATURE_GPS)) {
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if (blackboxShouldLogGpsHomeFrame()) {
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writeGPSHomeFrame();
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@ -1508,7 +1508,7 @@ void blackboxUpdate(timeUs_t currentTimeUs)
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//On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
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if (!sendFieldDefinition('I', 'P', blackboxMainFields, blackboxMainFields + 1, ARRAYLEN(blackboxMainFields),
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&blackboxMainFields[0].condition, &blackboxMainFields[1].condition)) {
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#ifdef GPS
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#ifdef USE_GPS
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if (feature(FEATURE_GPS)) {
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blackboxSetState(BLACKBOX_STATE_SEND_GPS_H_HEADER);
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} else
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@ -1516,7 +1516,7 @@ void blackboxUpdate(timeUs_t currentTimeUs)
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blackboxSetState(BLACKBOX_STATE_SEND_SLOW_HEADER);
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}
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break;
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#ifdef GPS
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#ifdef USE_GPS
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case BLACKBOX_STATE_SEND_GPS_H_HEADER:
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blackboxReplenishHeaderBudget();
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//On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
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