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Add cli command to configure adjustment ranges.

Browse source 
e.g. `adjrange 0 0 1700 2100 1 2`

set adjustment range 0, which applies to aux channel 0 (aux1) when range
is between 1700 and 2100 then apply function 1 (rc rate) to aux channel
2 (aux3)
This commit is contained in:
Dominic Clifton 2014-10-24 19:51:40 +01:00
parent 18abad5dd7
commit bd39445be8
5 changed files with 110 additions and 21 deletions
Download patch file Download diff file Expand all files Collapse all files

2
src/main/config/config.c
View file

@ -100,7 +100,7 @@ void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DCon
master_t masterConfig; // master config struct with data independent from profiles
profile_t *currentProfile; // profile config struct
static const uint8_t EEPROM_CONF_VERSION = 82;
static const uint8_t EEPROM_CONF_VERSION = 83;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{

2
src/main/config/config_profile.h
View file

@ -44,6 +44,8 @@ typedef struct profile_s {
modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
adjustmentRange_t adjustmentRanges[MAX_ADJUSTMENT_RANGE_COUNT];
// Radio/ESC-related configuration
uint8_t deadband; // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
uint8_t yaw_deadband; // introduce a deadband around the stick center for yaw axis. Must be greater than zero.

2
src/main/io/rc_controls.c
View file

@ -318,7 +318,7 @@ void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rx
uint8_t adjustmentIndex;
uint32_t now = millis();
for (adjustmentIndex = 0; adjustmentIndex < ADJUSTMENT_COUNT; adjustmentIndex++) {
for (adjustmentIndex = 0; adjustmentIndex < MAX_SIMULTANEOUS_ADJUSTMENTS; adjustmentIndex++) {
adjustmentState_t *adjustmentState = &adjustmentStates[adjustmentIndex];
uint8_t adjustmentFunction = adjustmentState->adjustmentFunction;

13
src/main/io/rc_controls.h
View file

@ -138,16 +138,27 @@ typedef enum {
ADJUSTMENT_RC_RATE
} adjustmentFunction_e;
#define ADJUSTMENT_FUNCTION_COUNT 2
typedef struct adjustmentConfig_s {
uint8_t adjustmentFunction;
uint8_t step;
} adjustmentConfig_t;
typedef struct adjustmentRange_s {
// when aux channel is in range...
uint8_t auxChannelIndex;
channelRange_t range;
#define ADJUSTMENT_COUNT 1
// ..then apply the adjustment function to the auxSwitchChannel
uint8_t adjustmentFunction;
uint8_t auxSwitchChannelIndex;
} adjustmentRange_t;
#define ADJUSTMENT_INDEX_OFFSET 1
#define MAX_ADJUSTMENT_RANGE_COUNT 12 // enough for 2 * 6pos switches.
void configureAdjustment(uint8_t index, uint8_t auxChannelIndex, const adjustmentConfig_t *adjustmentConfig);
void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rxConfig);

112
src/main/io/serial_cli.c
View file

@ -71,6 +71,7 @@
// we unset this on 'exit'
extern uint8_t cliMode;
static void cliAux(char *cmdline);
static void cliAdjustmentRange(char *cmdline);
static void cliCMix(char *cmdline);
static void cliDefaults(char *cmdline);
static void cliDump(char *cmdLine);
@ -141,6 +142,7 @@ typedef struct {
// should be sorted a..z for bsearch()
const clicmd_t cmdTable[] = {
{ "aux", "show/set aux settings", cliAux },
{ "adjrange", "show/set adjustment ranges settings", cliAdjustmentRange },
{ "cmix", "design custom mixer", cliCMix },
#ifdef LED_STRIP
{ "color", "configure colors", cliColor },
@ -403,6 +405,30 @@ static int cliCompare(const void *a, const void *b)
return strncasecmp(ca->name, cb->name, strlen(cb->name));
}
static char *processChannelRangeArgs(char *ptr, channelRange_t *range, uint8_t *validArgumentCount)
{
int val;
ptr = strchr(ptr, ' ');
if (ptr) {
val = atoi(++ptr);
val = CHANNEL_VALUE_TO_STEP(val);
if (val >= MIN_MODE_RANGE_STEP && val <= MAX_MODE_RANGE_STEP) {
range->startStep = val;
(*validArgumentCount)++;
}
}
ptr = strchr(ptr, ' ');
if (ptr) {
val = atoi(++ptr);
val = CHANNEL_VALUE_TO_STEP(val);
if (val >= MIN_MODE_RANGE_STEP && val <= MAX_MODE_RANGE_STEP) {
range->endStep = val;
(*validArgumentCount)++;
}
}
return ptr;
}
static void cliAux(char *cmdline)
{
int i, val = 0;
@ -444,24 +470,8 @@ static void cliAux(char *cmdline)
validArgumentCount++;
}
}
ptr = strchr(ptr, ' ');
if (ptr) {
val = atoi(++ptr);
val = CHANNEL_VALUE_TO_STEP(val);
if (val >= MIN_MODE_RANGE_STEP && val <= MAX_MODE_RANGE_STEP) {
mac->range.startStep = val;
validArgumentCount++;
}
}
ptr = strchr(ptr, ' ');
if (ptr) {
val = atoi(++ptr);
val = CHANNEL_VALUE_TO_STEP(val);
if (val >= MIN_MODE_RANGE_STEP && val <= MAX_MODE_RANGE_STEP) {
mac->range.endStep = val;
validArgumentCount++;
}
}
ptr = processChannelRangeArgs(ptr, &mac->range, &validArgumentCount);
if (validArgumentCount != 4) {
memset(mac, 0, sizeof(modeActivationCondition_t));
}
@ -471,6 +481,68 @@ static void cliAux(char *cmdline)
}
}
static void cliAdjustmentRange(char *cmdline)
{
int i, val = 0;
uint8_t len;
char *ptr;
len = strlen(cmdline);
if (len == 0) {
// print out adjustment ranges channel settings
for (i = 0; i < MAX_ADJUSTMENT_RANGE_COUNT; i++) {
adjustmentRange_t *ar = &currentProfile->adjustmentRanges[i];
printf("adjrange %u %u %u %u %u %u\r\n",
i,
ar->auxChannelIndex,
MODE_STEP_TO_CHANNEL_VALUE(ar->range.startStep),
MODE_STEP_TO_CHANNEL_VALUE(ar->range.endStep),
ar->adjustmentFunction,
ar->auxSwitchChannelIndex
);
}
} else {
ptr = cmdline;
i = atoi(ptr++);
if (i < MAX_ADJUSTMENT_RANGE_COUNT) {
adjustmentRange_t *ar = &currentProfile->adjustmentRanges[i];
uint8_t validArgumentCount = 0;
ptr = strchr(ptr, ' ');
if (ptr) {
val = atoi(++ptr);
if (val >= 0 && val < MAX_AUX_CHANNEL_COUNT) {
ar->auxChannelIndex = val;
validArgumentCount++;
}
}
ptr = processChannelRangeArgs(ptr, &ar->range, &validArgumentCount);
ptr = strchr(ptr, ' ');
if (ptr) {
val = atoi(++ptr);
if (val >= 0 && val < ADJUSTMENT_FUNCTION_COUNT) {
ar->adjustmentFunction = val;
validArgumentCount++;
}
}
ptr = strchr(ptr, ' ');
if (ptr) {
val = atoi(++ptr);
if (val >= 0 && val < MAX_AUX_CHANNEL_COUNT) {
ar->auxSwitchChannelIndex = val;
validArgumentCount++;
}
}
if (validArgumentCount != 5) {
memset(ar, 0, sizeof(adjustmentRange_t));
}
} else {
printf("index: must be < %u\r\n", MAX_ADJUSTMENT_RANGE_COUNT);
}
}
}
static void cliCMix(char *cmdline)
{
int i, check = 0;
@ -737,6 +809,10 @@ static void cliDump(char *cmdline)
cliAux("");
printf("\r\n# adjrange\r\n");
cliAdjustmentRange("");
printSectionBreak();
dumpValues(PROFILE_VALUE);