Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-24 08:45:36 +03:00
Code Issues Wiki Activity

Added rx, arming, mixer, and airplane config() macros

Browse source
This commit is contained in:
Martin Budden 2016-11-30 23:06:42 +00:00
parent 00338cb854
commit c175d304c2
9 changed files with 168 additions and 163 deletions
Download patch file Download diff file Expand all files Collapse all files

102
src/main/fc/fc_msp.c
View file

@ -313,7 +313,7 @@ void initActiveBoxIds(void)
activeBoxIds[activeBoxIdCount++] = BOXFAILSAFE;
}
if (masterConfig.mixerConfig.mixerMode == MIXER_FLYING_WING || masterConfig.mixerConfig.mixerMode == MIXER_AIRPLANE) {
if (mixerConfig()->mixerMode == MIXER_FLYING_WING || mixerConfig()->mixerMode == MIXER_AIRPLANE) {
activeBoxIds[activeBoxIdCount++] = BOXPASSTHRU;
}
@ -360,7 +360,7 @@ void initActiveBoxIds(void)
#endif
#ifdef USE_SERVOS
if (masterConfig.mixerConfig.mixerMode == MIXER_CUSTOM_AIRPLANE) {
if (mixerConfig()->mixerMode == MIXER_CUSTOM_AIRPLANE) {
activeBoxIds[activeBoxIdCount++] = BOXSERVO1;
activeBoxIds[activeBoxIdCount++] = BOXSERVO2;
activeBoxIds[activeBoxIdCount++] = BOXSERVO3;
@ -563,7 +563,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
// DEPRECATED - Use MSP_API_VERSION
case MSP_IDENT:
sbufWriteU8(dst, MW_VERSION);
sbufWriteU8(dst, masterConfig.mixerConfig.mixerMode);
sbufWriteU8(dst, mixerConfig()->mixerMode);
sbufWriteU8(dst, MSP_PROTOCOL_VERSION);
sbufWriteU32(dst, CAP_DYNBALANCE); // "capability"
break;
@ -700,8 +700,8 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
break;
case MSP_ARMING_CONFIG:
sbufWriteU8(dst, masterConfig.armingConfig.auto_disarm_delay);
sbufWriteU8(dst, masterConfig.armingConfig.disarm_kill_switch);
sbufWriteU8(dst, armingConfig()->auto_disarm_delay);
sbufWriteU8(dst, armingConfig()->disarm_kill_switch);
break;
case MSP_LOOP_TIME:
@ -776,7 +776,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
break;
case MSP_MISC:
sbufWriteU16(dst, masterConfig.rxConfig.midrc);
sbufWriteU16(dst, rxConfig()->midrc);
sbufWriteU16(dst, motorConfig()->minthrottle);
sbufWriteU16(dst, motorConfig()->maxthrottle);
@ -794,7 +794,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU8(dst, 0); // gps_ubx_sbas
#endif
sbufWriteU8(dst, batteryConfig()->multiwiiCurrentMeterOutput);
sbufWriteU8(dst, masterConfig.rxConfig.rssi_channel);
sbufWriteU8(dst, rxConfig()->rssi_channel);
sbufWriteU8(dst, 0);
sbufWriteU16(dst, compassConfig()->mag_declination / 10);
@ -886,23 +886,23 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
break;
case MSP_MIXER:
sbufWriteU8(dst, masterConfig.mixerConfig.mixerMode);
sbufWriteU8(dst, mixerConfig()->mixerMode);
break;
case MSP_RX_CONFIG:
sbufWriteU8(dst, masterConfig.rxConfig.serialrx_provider);
sbufWriteU16(dst, masterConfig.rxConfig.maxcheck);
sbufWriteU16(dst, masterConfig.rxConfig.midrc);
sbufWriteU16(dst, masterConfig.rxConfig.mincheck);
sbufWriteU8(dst, masterConfig.rxConfig.spektrum_sat_bind);
sbufWriteU16(dst, masterConfig.rxConfig.rx_min_usec);
sbufWriteU16(dst, masterConfig.rxConfig.rx_max_usec);
sbufWriteU8(dst, masterConfig.rxConfig.rcInterpolation);
sbufWriteU8(dst, masterConfig.rxConfig.rcInterpolationInterval);
sbufWriteU16(dst, masterConfig.rxConfig.airModeActivateThreshold);
sbufWriteU8(dst, masterConfig.rxConfig.rx_spi_protocol);
sbufWriteU32(dst, masterConfig.rxConfig.rx_spi_id);
sbufWriteU8(dst, masterConfig.rxConfig.rx_spi_rf_channel_count);
sbufWriteU8(dst, rxConfig()->serialrx_provider);
sbufWriteU16(dst, rxConfig()->maxcheck);
sbufWriteU16(dst, rxConfig()->midrc);
sbufWriteU16(dst, rxConfig()->mincheck);
sbufWriteU8(dst, rxConfig()->spektrum_sat_bind);
sbufWriteU16(dst, rxConfig()->rx_min_usec);
sbufWriteU16(dst, rxConfig()->rx_max_usec);
sbufWriteU8(dst, rxConfig()->rcInterpolation);
sbufWriteU8(dst, rxConfig()->rcInterpolationInterval);
sbufWriteU16(dst, rxConfig()->airModeActivateThreshold);
sbufWriteU8(dst, rxConfig()->rx_spi_protocol);
sbufWriteU32(dst, rxConfig()->rx_spi_id);
sbufWriteU8(dst, rxConfig()->rx_spi_rf_channel_count);
break;
case MSP_FAILSAFE_CONFIG:
@ -916,27 +916,27 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
case MSP_RXFAIL_CONFIG:
for (int i = 0; i < rxRuntimeConfig.channelCount; i++) {
sbufWriteU8(dst, masterConfig.rxConfig.failsafe_channel_configurations[i].mode);
sbufWriteU16(dst, RXFAIL_STEP_TO_CHANNEL_VALUE(masterConfig.rxConfig.failsafe_channel_configurations[i].step));
sbufWriteU8(dst, rxConfig()->failsafe_channel_configurations[i].mode);
sbufWriteU16(dst, RXFAIL_STEP_TO_CHANNEL_VALUE(rxConfig()->failsafe_channel_configurations[i].step));
}
break;
case MSP_RSSI_CONFIG:
sbufWriteU8(dst, masterConfig.rxConfig.rssi_channel);
sbufWriteU8(dst, rxConfig()->rssi_channel);
break;
case MSP_RX_MAP:
for (int i = 0; i < MAX_MAPPABLE_RX_INPUTS; i++) {
sbufWriteU8(dst, masterConfig.rxConfig.rcmap[i]);
sbufWriteU8(dst, rxConfig()->rcmap[i]);
}
break;
case MSP_BF_CONFIG:
sbufWriteU8(dst, masterConfig.mixerConfig.mixerMode);
sbufWriteU8(dst, mixerConfig()->mixerMode);
sbufWriteU32(dst, featureMask());
sbufWriteU8(dst, masterConfig.rxConfig.serialrx_provider);
sbufWriteU8(dst, rxConfig()->serialrx_provider);
sbufWriteU16(dst, boardAlignment()->rollDegrees);
sbufWriteU16(dst, boardAlignment()->pitchDegrees);
@ -1247,8 +1247,8 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
masterConfig.accelerometerTrims.values.roll = sbufReadU16(src);
break;
case MSP_SET_ARMING_CONFIG:
masterConfig.armingConfig.auto_disarm_delay = sbufReadU8(src);
masterConfig.armingConfig.disarm_kill_switch = sbufReadU8(src);
armingConfig()->auto_disarm_delay = sbufReadU8(src);
armingConfig()->disarm_kill_switch = sbufReadU8(src);
break;
case MSP_SET_LOOP_TIME:
@ -1335,7 +1335,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_MISC:
tmp = sbufReadU16(src);
if (tmp < 1600 && tmp > 1400)
masterConfig.rxConfig.midrc = tmp;
rxConfig()->midrc = tmp;
motorConfig()->minthrottle = sbufReadU16(src);
motorConfig()->maxthrottle = sbufReadU16(src);
@ -1353,7 +1353,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
sbufReadU8(src); // gps_ubx_sbas
#endif
batteryConfig()->multiwiiCurrentMeterOutput = sbufReadU8(src);
masterConfig.rxConfig.rssi_channel = sbufReadU8(src);
rxConfig()->rssi_channel = sbufReadU8(src);
sbufReadU8(src);
compassConfig()->mag_declination = sbufReadU16(src) * 10;
@ -1664,29 +1664,29 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
#ifndef USE_QUAD_MIXER_ONLY
case MSP_SET_MIXER:
masterConfig.mixerConfig.mixerMode = sbufReadU8(src);
mixerConfig()->mixerMode = sbufReadU8(src);
break;
#endif
case MSP_SET_RX_CONFIG:
masterConfig.rxConfig.serialrx_provider = sbufReadU8(src);
masterConfig.rxConfig.maxcheck = sbufReadU16(src);
masterConfig.rxConfig.midrc = sbufReadU16(src);
masterConfig.rxConfig.mincheck = sbufReadU16(src);
masterConfig.rxConfig.spektrum_sat_bind = sbufReadU8(src);
rxConfig()->serialrx_provider = sbufReadU8(src);
rxConfig()->maxcheck = sbufReadU16(src);
rxConfig()->midrc = sbufReadU16(src);
rxConfig()->mincheck = sbufReadU16(src);
rxConfig()->spektrum_sat_bind = sbufReadU8(src);
if (dataSize > 8) {
masterConfig.rxConfig.rx_min_usec = sbufReadU16(src);
masterConfig.rxConfig.rx_max_usec = sbufReadU16(src);
rxConfig()->rx_min_usec = sbufReadU16(src);
rxConfig()->rx_max_usec = sbufReadU16(src);
}
if (dataSize > 12) {
masterConfig.rxConfig.rcInterpolation = sbufReadU8(src);
masterConfig.rxConfig.rcInterpolationInterval = sbufReadU8(src);
masterConfig.rxConfig.airModeActivateThreshold = sbufReadU16(src);
rxConfig()->rcInterpolation = sbufReadU8(src);
rxConfig()->rcInterpolationInterval = sbufReadU8(src);
rxConfig()->airModeActivateThreshold = sbufReadU16(src);
}
if (dataSize > 16) {
masterConfig.rxConfig.rx_spi_protocol = sbufReadU8(src);
masterConfig.rxConfig.rx_spi_id = sbufReadU32(src);
masterConfig.rxConfig.rx_spi_rf_channel_count = sbufReadU8(src);
rxConfig()->rx_spi_protocol = sbufReadU8(src);
rxConfig()->rx_spi_id = sbufReadU32(src);
rxConfig()->rx_spi_rf_channel_count = sbufReadU8(src);
}
break;
@ -1702,20 +1702,20 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
case MSP_SET_RXFAIL_CONFIG:
i = sbufReadU8(src);
if (i < MAX_SUPPORTED_RC_CHANNEL_COUNT) {
masterConfig.rxConfig.failsafe_channel_configurations[i].mode = sbufReadU8(src);
masterConfig.rxConfig.failsafe_channel_configurations[i].step = CHANNEL_VALUE_TO_RXFAIL_STEP(sbufReadU16(src));
rxConfig()->failsafe_channel_configurations[i].mode = sbufReadU8(src);
rxConfig()->failsafe_channel_configurations[i].step = CHANNEL_VALUE_TO_RXFAIL_STEP(sbufReadU16(src));
} else {
return MSP_RESULT_ERROR;
}
break;
case MSP_SET_RSSI_CONFIG:
masterConfig.rxConfig.rssi_channel = sbufReadU8(src);
rxConfig()->rssi_channel = sbufReadU8(src);
break;
case MSP_SET_RX_MAP:
for (int i = 0; i < MAX_MAPPABLE_RX_INPUTS; i++) {
masterConfig.rxConfig.rcmap[i] = sbufReadU8(src);
rxConfig()->rcmap[i] = sbufReadU8(src);
}
break;
@ -1723,13 +1723,13 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
#ifdef USE_QUAD_MIXER_ONLY
sbufReadU8(src); // mixerMode ignored
#else
masterConfig.mixerConfig.mixerMode = sbufReadU8(src); // mixerMode
mixerConfig()->mixerMode = sbufReadU8(src); // mixerMode
#endif
featureClearAll();
featureSet(sbufReadU32(src)); // features bitmap
masterConfig.rxConfig.serialrx_provider = sbufReadU8(src); // serialrx_type
rxConfig()->serialrx_provider = sbufReadU8(src); // serialrx_type
boardAlignment()->rollDegrees = sbufReadU16(src); // board_align_roll
boardAlignment()->pitchDegrees = sbufReadU16(src); // board_align_pitch