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https://github.com/betaflight/betaflight.git
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CF/BF - Remove usage of USE_FC based on PR discussion decisions. Add
USE_VIRTUAL_CURRENT_METER.
This commit is contained in:
Hydra
Dominic Clifton
parent
b4dc3b53f5
commit
be063ebbbf
11 changed files with 66 additions and 64 deletions
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@ -61,7 +61,6 @@
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#include "fc/rc_adjustments.h"
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#include "fc/runtime_config.h"
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#ifdef USE_FC
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#include "flight/altitude.h"
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#include "flight/failsafe.h"
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#include "flight/imu.h"
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@ -69,7 +68,6 @@
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#include "flight/navigation.h"
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#include "flight/pid.h"
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#include "flight/servos.h"
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#endif
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#include "io/asyncfatfs/asyncfatfs.h"
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#include "io/beeper.h"
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@ -90,16 +88,13 @@
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#include "msp/msp_protocol.h"
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#include "msp/msp_serial.h"
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#ifdef USE_FC
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#include "rx/msp.h"
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#include "rx/rx.h"
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#endif
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#include "scheduler/scheduler.h"
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#include "sensors/battery.h"
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#ifdef USE_FC
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#include "sensors/acceleration.h"
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#include "sensors/barometer.h"
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#include "sensors/boardalignment.h"
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@ -109,7 +104,6 @@
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#include "sensors/sonar.h"
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#include "telemetry/telemetry.h"
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#endif
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#ifdef USE_HARDWARE_REVISION_DETECTION
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#include "hardware_revision.h"
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@ -118,7 +112,7 @@
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static const char * const flightControllerIdentifier = BETAFLIGHT_IDENTIFIER; // 4 UPPER CASE alpha numeric characters that identify the flight controller.
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static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
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#ifdef USE_FC
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#ifndef USE_OSD_SLAVE
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static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
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{ BOXARM, "ARM", 0 },
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{ BOXANGLE, "ANGLE", 1 },
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@ -222,8 +216,8 @@ static void mspFc4waySerialCommand(sbuf_t *dst, sbuf_t *src, mspPostProcessFnPtr
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if (mspPostProcessFn) {
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*mspPostProcessFn = esc4wayProcess;
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}
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break;
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#ifdef USE_ESCSERIAL
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case PROTOCOL_SIMONK:
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case PROTOCOL_BLHELI:
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@ -250,7 +244,7 @@ static void mspRebootFn(serialPort_t *serialPort)
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{
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UNUSED(serialPort);
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#ifdef USE_FC
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#ifndef USE_OSD_SLAVE
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stopPwmAllMotors();
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#endif
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systemReset();
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@ -259,7 +253,7 @@ static void mspRebootFn(serialPort_t *serialPort)
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while (true) ;
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}
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#ifdef USE_FC
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#ifndef USE_OSD_SLAVE
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const box_t *findBoxByBoxId(uint8_t boxId)
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{
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for (uint8_t boxIndex = 0; boxIndex < sizeof(boxes) / sizeof(box_t); boxIndex++) {
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@ -461,21 +455,20 @@ static void serializeSDCardSummaryReply(sbuf_t *dst)
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switch (afatfs_getFilesystemState()) {
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case AFATFS_FILESYSTEM_STATE_READY:
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state = MSP_SDCARD_STATE_READY;
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break;
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case AFATFS_FILESYSTEM_STATE_INITIALIZATION:
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if (sdcard_isInitialized()) {
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state = MSP_SDCARD_STATE_FS_INIT;
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} else {
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state = MSP_SDCARD_STATE_CARD_INIT;
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}
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break;
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case AFATFS_FILESYSTEM_STATE_FATAL:
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case AFATFS_FILESYSTEM_STATE_UNKNOWN:
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default:
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state = MSP_SDCARD_STATE_FATAL;
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break;
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}
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}
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@ -641,6 +634,7 @@ static bool mspCommonProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProce
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sbufWriteU8(dst, (uint8_t)getBatteryState());
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break;
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}
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case MSP_VOLTAGE_METERS:
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// write out id and voltage meter values, once for each meter we support
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for (int i = 0; i < supportedVoltageMeterCount; i++) {
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@ -693,25 +687,33 @@ static bool mspCommonProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProce
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// that this situation may change and allows us to support configuration of any current sensor with
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// specialist configuration requirements.
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sbufWriteU8(dst, 2); // current meters in payload (adc + virtual)
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int currentMeterCount = 1;
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#ifdef USE_VIRTUAL_CURRENT_METER
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currentMeterCount++;
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#endif
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sbufWriteU8(dst, currentMeterCount);
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const uint8_t adcSensorSubframeLength = 1 + 1 + 2 + 2; // length of id, type, scale, offset, in bytes
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sbufWriteU8(dst, adcSensorSubframeLength);
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sbufWriteU8(dst, CURRENT_METER_ID_BATTERY_1); // the id of the sensor
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sbufWriteU8(dst, CURRENT_METER_ID_BATTERY_1); // the id of the meter
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sbufWriteU8(dst, CURRENT_SENSOR_ADC); // indicate the type of sensor that the next part of the payload is for
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sbufWriteU16(dst, currentSensorADCConfig()->scale);
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sbufWriteU16(dst, currentSensorADCConfig()->offset);
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#ifdef USE_VIRTUAL_CURRENT_METER
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const int8_t virtualSensorSubframeLength = 1 + 1 + 2 + 2; // length of id, type, scale, offset, in bytes
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sbufWriteU8(dst, virtualSensorSubframeLength);
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sbufWriteU8(dst, CURRENT_METER_ID_VIRTUAL_1); // the id of the sensor
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sbufWriteU8(dst, CURRENT_METER_ID_VIRTUAL_1); // the id of the meter
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sbufWriteU8(dst, CURRENT_SENSOR_VIRTUAL); // indicate the type of sensor that the next part of the payload is for
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sbufWriteU16(dst, currentSensorVirtualConfig()->scale);
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sbufWriteU16(dst, currentSensorVirtualConfig()->offset);
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#endif
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// if we had any other current sensors, this is where we would output any needed configuration
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break;
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}
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case MSP_BATTERY_CONFIG:
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sbufWriteU8(dst, batteryConfig()->vbatmincellvoltage);
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sbufWriteU8(dst, batteryConfig()->vbatmaxcellvoltage);
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@ -721,7 +723,6 @@ static bool mspCommonProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProce
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sbufWriteU8(dst, batteryConfig()->currentMeterSource);
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break;
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case MSP_TRANSPONDER_CONFIG:
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#ifdef TRANSPONDER
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sbufWriteU8(dst, 1); //Transponder supported
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@ -734,7 +735,6 @@ static bool mspCommonProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProce
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break;
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case MSP_OSD_CONFIG: {
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#define OSD_FLAGS_OSD_FEATURE (1 << 0)
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#define OSD_FLAGS_OSD_SLAVE (1 << 1)
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#define OSD_FLAGS_RESERVED_1 (1 << 2)
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@ -823,7 +823,7 @@ static bool mspOsdSlaveProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostPro
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}
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#endif
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#ifdef USE_FC
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#ifndef USE_OSD_SLAVE
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static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFnPtr *mspPostProcessFn)
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{
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UNUSED(mspPostProcessFn);
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@ -897,6 +897,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
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sbufWriteU32(dst, servoParams(i)->reversedSources);
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}
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break;
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case MSP_SERVO_MIX_RULES:
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for (int i = 0; i < MAX_SERVO_RULES; i++) {
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sbufWriteU8(dst, customServoMixers(i)->targetChannel);
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@ -1375,7 +1376,7 @@ static mspResult_e mspOsdSlaveProcessInCommand(uint8_t cmdMSP, sbuf_t *src) {
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}
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#endif
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#ifdef USE_FC
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#ifndef USE_OSD_SLAVE
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static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
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{
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uint32_t i;
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@ -1774,6 +1775,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
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GPS_speed = sbufReadU16(src);
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GPS_update |= 2; // New data signalisation to GPS functions // FIXME Magic Numbers
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break;
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case MSP_SET_WP:
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wp_no = sbufReadU8(src); //get the wp number
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lat = sbufReadU32(src);
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@ -1799,6 +1801,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
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}
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break;
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#endif
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case MSP_SET_FEATURE_CONFIG:
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featureClearAll();
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featureSet(sbufReadU32(src)); // features bitmap
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@ -2018,10 +2021,12 @@ static mspResult_e mspCommonProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
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currentSensorADCConfigMutable()->scale = sbufReadU16(src);
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currentSensorADCConfigMutable()->offset = sbufReadU16(src);
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break;
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#ifdef USE_VIRTUAL_CURRENT_METER
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case CURRENT_METER_ID_VIRTUAL_1:
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currentSensorVirtualConfigMutable()->scale = sbufReadU16(src);
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currentSensorVirtualConfigMutable()->offset = sbufReadU16(src);
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break;
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#endif
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default:
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return -1;
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@ -2082,17 +2087,10 @@ static mspResult_e mspCommonProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
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// !!TODO - replace this with a device independent implementation
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max7456WriteNvm(addr, font_data);
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}
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break;
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#else
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return MSP_RESULT_ERROR;
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/*
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// just discard the data
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sbufReadU8(src);
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for (int i = 0; i < 54; i++) {
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sbufReadU8(src);
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}
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*/
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#endif
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break;
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#endif // OSD || USE_OSD_SLAVE
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default:
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@ -2119,7 +2117,7 @@ mspResult_e mspFcProcessCommand(mspPacket_t *cmd, mspPacket_t *reply, mspPostPro
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if (mspCommonProcessOutCommand(cmdMSP, dst, mspPostProcessFn)) {
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ret = MSP_RESULT_ACK;
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#ifdef USE_FC
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#ifndef USE_OSD_SLAVE
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} else if (mspFcProcessOutCommand(cmdMSP, dst, mspPostProcessFn)) {
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ret = MSP_RESULT_ACK;
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#endif
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@ -2203,7 +2201,7 @@ void mspFcProcessReply(mspPacket_t *reply)
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/*
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* Return a pointer to the process command function
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*/
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#ifdef USE_FC
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#ifndef USE_OSD_SLAVE
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void mspFcInit(void)
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{
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initActiveBoxIds();
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