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Code Issues Wiki Activity

Updates to support parameter groups

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This commit is contained in:
Martin Budden 2017-03-05 06:33:25 +00:00
parent 13ddcdb9cf
commit aa561d542b
23 changed files with 338 additions and 322 deletions
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27
src/main/flight/servos.c
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@ -61,6 +61,7 @@ void pgResetFn_servoConfig(servoConfig_t *servoConfig)
servoConfig->dev.servoPwmRate = 50;
servoConfig->tri_unarmed_servo = 1;
servoConfig->servo_lowpass_freq = 0;
servoConfig->channelForwardingStartChannel = AUX1;
int servoIndex = 0;
for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT && servoIndex < MAX_SUPPORTED_SERVOS; i++) {
@ -97,7 +98,6 @@ static uint8_t servoRuleCount = 0;
static servoMixer_t currentServoMixer[MAX_SERVO_RULES];
int16_t servo[MAX_SUPPORTED_SERVOS];
static int useServo;
static channelForwardingConfig_t *channelForwardingConfig;
#define COUNT_SERVO_RULES(rules) (sizeof(rules) / sizeof(servoMixer_t))
@ -187,11 +187,6 @@ const mixerRules_t servoMixers[] = {
{ 0, NULL },
};
void servoUseConfigs(struct channelForwardingConfig_s *channelForwardingConfigToUse)
{
channelForwardingConfig = channelForwardingConfigToUse;
}
int16_t determineServoMiddleOrForwardFromChannel(servoIndex_e servoIndex)
{
const uint8_t channelToForwardFrom = servoParams(servoIndex)->forwardFromChannel;
@ -273,27 +268,25 @@ void servoConfigureOutput(void)
}
void servoMixerLoadMix(int index, servoMixer_t *customServoMixers)
void servoMixerLoadMix(int index)
{
int i;
// we're 1-based
index++;
// clear existing
for (i = 0; i < MAX_SERVO_RULES; i++)
customServoMixers[i].targetChannel = customServoMixers[i].inputSource = customServoMixers[i].rate = customServoMixers[i].box = 0;
for (int i = 0; i < MAX_SERVO_RULES; i++) {
customServoMixersMutable(i)->targetChannel = customServoMixersMutable(i)->inputSource = customServoMixersMutable(i)->rate = customServoMixersMutable(i)->box = 0;
}
for (i = 0; i < servoMixers[index].servoRuleCount; i++)
customServoMixers[i] = servoMixers[index].rule[i];
for (int i = 0; i < servoMixers[index].servoRuleCount; i++) {
*customServoMixersMutable(i) = servoMixers[index].rule[i];
}
}
STATIC_UNIT_TESTED void forwardAuxChannelsToServos(uint8_t firstServoIndex)
{
// start forwarding from this channel
uint8_t channelOffset = channelForwardingConfig->startChannel;
uint8_t servoOffset;
for (servoOffset = 0; servoOffset < MAX_AUX_CHANNEL_COUNT && channelOffset < MAX_SUPPORTED_RC_CHANNEL_COUNT; servoOffset++) {
uint8_t channelOffset = servoConfig()->channelForwardingStartChannel;
for (uint8_t servoOffset = 0; servoOffset < MAX_AUX_CHANNEL_COUNT && channelOffset < MAX_SUPPORTED_RC_CHANNEL_COUNT; servoOffset++) {
pwmWriteServo(firstServoIndex + servoOffset, rcData[channelOffset++]);
}
}