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CF/BF - Remove usage of USE_FC based on PR discussion decisions. Add

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USE_VIRTUAL_CURRENT_METER.
This commit is contained in:
Hydra 2017-04-11 08:56:54 +01:00 • committed by Dominic Clifton
parent b4dc3b53f5
commit be063ebbbf
11 changed files with 66 additions and 64 deletions
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1
Makefile
View file

@ -806,7 +806,6 @@ ifeq ($(OSD_SLAVE),yes)
TARGET_FLAGS := -DUSE_OSD_SLAVE $(TARGET_FLAGS)
COMMON_SRC := $(COMMON_SRC) $(OSD_SLAVE_SRC) $(COMMON_DEVICE_SRC)
else
TARGET_FLAGS := -DUSE_FC $(TARGET_FLAGS)
COMMON_SRC := $(COMMON_SRC) $(FC_SRC) $(COMMON_DEVICE_SRC)
endif

28
src/main/fc/config.c
View file

@ -66,7 +66,6 @@
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#ifdef USE_FC
#include "flight/altitude.h"
#include "flight/failsafe.h"
#include "flight/imu.h"
@ -74,7 +73,6 @@
#include "flight/navigation.h"
#include "flight/pid.h"
#include "flight/servos.h"
#endif
#include "io/beeper.h"
#include "io/gimbal.h"
@ -99,7 +97,7 @@
#include "telemetry/telemetry.h"
#ifdef USE_FC
#ifndef USE_OSD_SLAVE
pidProfile_t *currentPidProfile;
#endif
@ -121,7 +119,7 @@ PG_RESET_TEMPLATE(featureConfig_t, featureConfig,
PG_REGISTER_WITH_RESET_TEMPLATE(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0);
#ifdef USE_FC
#ifndef USE_OSD_SLAVE
PG_RESET_TEMPLATE(systemConfig_t, systemConfig,
.pidProfileIndex = 0,
.activeRateProfile = 0,
@ -459,7 +457,7 @@ void pgResetFn_statusLedConfig(statusLedConfig_t *statusLedConfig)
;
}
#ifdef USE_FC
#ifndef USE_OSD_SLAVE
uint8_t getCurrentPidProfileIndex(void)
{
return systemConfig()->pidProfileIndex;
@ -495,7 +493,7 @@ void resetConfigs(void)
pgActivateProfile(0);
#ifdef USE_FC
#ifndef USE_OSD_SLAVE
setPidProfile(0);
setControlRateProfile(0);
#endif
@ -507,7 +505,7 @@ void resetConfigs(void)
void activateConfig(void)
{
#ifdef USE_FC
#ifndef USE_OSD_SLAVE
generateThrottleCurve();
resetAdjustmentStates();
@ -531,7 +529,7 @@ void activateConfig(void)
void validateAndFixConfig(void)
{
#ifdef USE_FC
#ifndef USE_OSD_SLAVE
if((motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) && (motorConfig()->mincommand < 1000)){
motorConfigMutable()->mincommand = 1000;
}
@ -607,7 +605,7 @@ void validateAndFixConfig(void)
#endif
}
#ifdef USE_FC
#ifndef USE_OSD_SLAVE
void validateAndFixGyroConfig(void)
{
// Prevent invalid notch cutoff
@ -687,7 +685,7 @@ void validateAndFixGyroConfig(void)
void readEEPROM(void)
{
#ifdef USE_FC
#ifndef USE_OSD_SLAVE
suspendRxSignal();
#endif
@ -695,7 +693,7 @@ void readEEPROM(void)
if (!loadEEPROM()) {
failureMode(FAILURE_INVALID_EEPROM_CONTENTS);
}
#ifdef USE_FC
#ifndef USE_OSD_SLAVE
if (systemConfig()->activeRateProfile >= CONTROL_RATE_PROFILE_COUNT) {// sanity check
systemConfigMutable()->activeRateProfile = 0;
}
@ -710,20 +708,20 @@ void readEEPROM(void)
validateAndFixConfig();
activateConfig();
#ifdef USE_FC
#ifndef USE_OSD_SLAVE
resumeRxSignal();
#endif
}
void writeEEPROM(void)
{
#ifdef USE_FC
#ifndef USE_OSD_SLAVE
suspendRxSignal();
#endif
writeConfigToEEPROM();
#ifdef USE_FC
#ifndef USE_OSD_SLAVE
resumeRxSignal();
#endif
}
@ -749,7 +747,7 @@ void saveConfigAndNotify(void)
beeperConfirmationBeeps(1);
}
#ifdef USE_FC
#ifndef USE_OSD_SLAVE
void changePidProfile(uint8_t pidProfileIndex)
{
if (pidProfileIndex >= MAX_PROFILE_COUNT) {

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

@ -64,7 +64,7 @@ typedef enum {
#define MAX_NAME_LENGTH 16
#ifdef USE_FC
#ifndef USE_OSD_SLAVE
typedef struct systemConfig_s {
uint8_t pidProfileIndex;
uint8_t activeRateProfile;

2
src/main/fc/fc_hardfaults.c
View file

@ -93,7 +93,7 @@ void HardFault_Handler(void)
{
LED2_ON;
#ifdef USE_FC
#ifndef USE_OSD_SLAVE
// fall out of the sky
uint8_t requiredStateForMotors = SYSTEM_STATE_CONFIG_LOADED | SYSTEM_STATE_MOTORS_READY;
if ((systemState & requiredStateForMotors) == requiredStateForMotors) {

58
src/main/fc/fc_msp.c
View file

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

18
src/main/fc/fc_tasks.c
View file

@ -48,12 +48,10 @@
#include "fc/cli.h"
#include "fc/fc_dispatch.h"
#ifdef USE_FC
#include "flight/altitude.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#endif
#include "io/beeper.h"
#include "io/dashboard.h"
@ -91,7 +89,7 @@ void taskBstMasterProcess(timeUs_t currentTimeUs);
#define TASK_PERIOD_MS(ms) ((ms) * 1000)
#define TASK_PERIOD_US(us) (us)
#ifdef USE_FC
#ifndef USE_OSD_SLAVE
static void taskUpdateAccelerometer(timeUs_t currentTimeUs)
{
UNUSED(currentTimeUs);
@ -133,7 +131,7 @@ void taskBatteryAlerts(timeUs_t currentTimeUs)
batteryUpdateAlarms();
}
#ifdef USE_FC
#ifndef USE_OSD_SLAVE
static void taskUpdateRxMain(timeUs_t currentTimeUs)
{
processRx(currentTimeUs);
@ -247,7 +245,7 @@ void osdSlaveTasksInit(void)
}
#endif
#ifdef USE_FC
#ifndef USE_OSD_SLAVE
void fcTasksInit(void)
{
schedulerInit();
@ -359,7 +357,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
.staticPriority = TASK_PRIORITY_MEDIUM_HIGH,
},
#ifdef USE_FC
#ifndef USE_OSD_SLAVE
[TASK_GYROPID] = {
.taskName = "PID",
.subTaskName = "GYRO",
@ -404,7 +402,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
#endif
},
#ifdef USE_FC
#ifndef USE_OSD_SLAVE
[TASK_DISPATCH] = {
.taskName = "DISPATCH",
.taskFunc = dispatchProcess,
@ -432,7 +430,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
.desiredPeriod = TASK_PERIOD_HZ(50),
.staticPriority = TASK_PRIORITY_MEDIUM,
},
#ifdef USE_FC
#ifndef USE_OSD_SLAVE
#ifdef BEEPER
[TASK_BEEPER] = {
@ -498,7 +496,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
},
#endif
#ifdef USE_FC
#ifndef USE_OSD_SLAVE
#ifdef USE_DASHBOARD
[TASK_DASHBOARD] = {
.taskName = "DASHBOARD",
@ -527,7 +525,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
},
#endif
#ifdef USE_FC
#ifndef USE_OSD_SLAVE
#ifdef TELEMETRY
[TASK_TELEMETRY] = {
.taskName = "TELEMETRY",

2
src/main/flight/pid.h
View file

@ -17,6 +17,7 @@
#pragma once
#ifndef USE_OSD_SLAVE
#include <stdbool.h>
#include "config/parameter_group.h"
@ -111,3 +112,4 @@ void pidInitFilters(const pidProfile_t *pidProfile);
void pidInitConfig(const pidProfile_t *pidProfile);
void pidInit(const pidProfile_t *pidProfile);
#endif

8
src/main/sensors/battery.c
View file

@ -73,7 +73,11 @@ static batteryState_e consumptionState;
#ifdef BOARD_HAS_CURRENT_SENSOR
#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
#else
#ifdef USE_VIRTUAL_CURRENT_METER
#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_VIRTUAL
#else
#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_NONE
#endif
#endif
#ifdef BOARD_HAS_VOLTAGE_DIVIDER
@ -290,7 +294,7 @@ void batteryInit(void)
break;
case CURRENT_METER_VIRTUAL:
#ifdef USE_FC
#ifdef USE_VIRTUAL_CURRENT_METER
currentMeterVirtualInit();
#endif
break;
@ -341,7 +345,7 @@ void batteryUpdateCurrentMeter(timeUs_t currentTimeUs)
break;
case CURRENT_METER_VIRTUAL: {
#ifdef USE_FC
#ifdef USE_VIRTUAL_CURRENT_METER
throttleStatus_e throttleStatus = calculateThrottleStatus();
bool throttleLowAndMotorStop = (throttleStatus == THROTTLE_LOW && feature(FEATURE_MOTOR_STOP));
int32_t throttleOffset = (int32_t)rcCommand[THROTTLE] - 1000;

8
src/main/sensors/current.c
View file

@ -38,7 +38,7 @@
const uint8_t currentMeterIds[] = {
CURRENT_METER_ID_BATTERY_1,
#ifdef USE_FC
#ifdef USE_VIRTUAL_CURRENT_METER
CURRENT_METER_ID_VIRTUAL_1,
#endif
#ifdef USE_ESC_SENSOR
@ -95,7 +95,9 @@ PG_RESET_TEMPLATE(currentSensorADCConfig_t, currentSensorADCConfig,
.offset = CURRENT_METER_OFFSET_DEFAULT,
);
#ifdef USE_VIRTUAL_CURRENT_METER
PG_REGISTER(currentSensorVirtualConfig_t, currentSensorVirtualConfig, PG_CURRENT_SENSOR_VIRTUAL_CONFIG, 0);
#endif
static int32_t currentMeterADCToCentiamps(const uint16_t src)
{
@ -146,7 +148,7 @@ void currentMeterADCRead(currentMeter_t *meter)
// VIRTUAL
//
#ifdef USE_FC
#ifdef USE_VIRTUAL_CURRENT_METER
currentSensorVirtualState_t currentMeterVirtualState;
void currentMeterVirtualInit(void)
@ -234,7 +236,7 @@ void currentMeterRead(currentMeterId_e id, currentMeter_t *meter)
if (id == CURRENT_METER_ID_BATTERY_1) {
currentMeterADCRead(meter);
}
#ifdef USE_FC
#ifdef USE_VIRTUAL_CURRENT_METER
else if (id == CURRENT_METER_ID_VIRTUAL_1) {
currentMeterVirtualRead(meter);
}

1
src/main/target/common_fc_pre.h
View file

@ -72,6 +72,7 @@
#define USE_CLI
#define USE_PPM
#define USE_PWM
#define USE_VIRTUAL_CURRENT_METER
#define SERIAL_RX
#define USE_SERIALRX_CRSF // Team Black Sheep Crossfire protocol
#define USE_SERIALRX_IBUS // FlySky and Turnigy receivers

2
src/test/Makefile
View file

@ -190,7 +190,7 @@ COMMON_FLAGS = \
-ggdb3 \
-pthread \
-O0 \
-DUNIT_TEST -DUSE_FC\
-DUNIT_TEST \
-isystem $(GTEST_DIR)/inc \
-MMD -MP