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Refactoring motor to simplify implementation on other platforms (#14156)

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Jay Blackman 2025-01-24 18:37:20 +11:00 • committed by GitHub
parent 7ed1b4b71f
commit c2768d0409
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GPG key ID: B5690EEEBB952194
62 changed files with 975 additions and 810 deletions
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12
src/main/msp/msp.c
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@ -1871,12 +1871,12 @@ case MSP_NAME:
case MSP_ADVANCED_CONFIG:
sbufWriteU8(dst, 1); // was gyroConfig()->gyro_sync_denom - removed in API 1.43
sbufWriteU8(dst, pidConfig()->pid_process_denom);
sbufWriteU8(dst, motorConfig()->dev.useUnsyncedPwm);
sbufWriteU8(dst, motorConfig()->dev.motorPwmProtocol);
sbufWriteU8(dst, motorConfig()->dev.useContinuousUpdate);
sbufWriteU8(dst, motorConfig()->dev.motorProtocol);
sbufWriteU16(dst, motorConfig()->dev.motorPwmRate);
sbufWriteU16(dst, motorConfig()->motorIdle);
sbufWriteU8(dst, 0); // DEPRECATED: gyro_use_32kHz
sbufWriteU8(dst, motorConfig()->dev.motorPwmInversion);
sbufWriteU8(dst, motorConfig()->dev.motorInversion);
sbufWriteU8(dst, gyroConfig()->gyro_to_use);
sbufWriteU8(dst, gyroConfig()->gyro_high_fsr);
sbufWriteU8(dst, gyroConfig()->gyroMovementCalibrationThreshold);
@ -3074,8 +3074,8 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
case MSP_SET_ADVANCED_CONFIG:
sbufReadU8(src); // was gyroConfigMutable()->gyro_sync_denom - removed in API 1.43
pidConfigMutable()->pid_process_denom = sbufReadU8(src);
motorConfigMutable()->dev.useUnsyncedPwm = sbufReadU8(src);
motorConfigMutable()->dev.motorPwmProtocol = sbufReadU8(src);
motorConfigMutable()->dev.useContinuousUpdate = sbufReadU8(src);
motorConfigMutable()->dev.motorProtocol = sbufReadU8(src);
motorConfigMutable()->dev.motorPwmRate = sbufReadU16(src);
if (sbufBytesRemaining(src) >= 2) {
motorConfigMutable()->motorIdle = sbufReadU16(src);
@ -3084,7 +3084,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
sbufReadU8(src); // DEPRECATED: gyro_use_32khz
}
if (sbufBytesRemaining(src)) {
motorConfigMutable()->dev.motorPwmInversion = sbufReadU8(src);
motorConfigMutable()->dev.motorInversion = sbufReadU8(src);
}
if (sbufBytesRemaining(src) >= 8) {
gyroConfigMutable()->gyro_to_use = sbufReadU8(src);