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Converted target config.c files to PG - PG CLI 6 (#2578)

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Converted CLI and target config.c files to PGs
This commit is contained in:
Martin Budden 2017-03-08 23:26:37 +00:00 • committed by GitHub
parent 90443bb33b
commit f1ce19167f
35 changed files with 568 additions and 462 deletions
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1
Makefile
View file

@ -688,6 +688,7 @@ COMMON_SRC = \
io/vtx_string.c \
io/vtx_smartaudio.c \
io/vtx_tramp.c \
io/vtx.c \
$(CMSIS_SRC) \
$(DEVICE_STDPERIPH_SRC)

3
src/main/config/parameter_group_ids.h
View file

@ -97,7 +97,8 @@
#define PG_DISPLAY_PORT_MAX7456_CONFIG 513
#define PG_VCD_CONFIG 514
#define PG_VTX_CONFIG 515
#define PG_BETAFLIGHT_END 515
#define PG_SONAR_CONFIG 516
#define PG_BETAFLIGHT_END 516
// OSD configuration (subject to change)

220
src/main/fc/cli.c
View file

@ -91,6 +91,8 @@ extern uint8_t __config_end;
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/beeper.h"
#include "io/flashfs.h"
#include "io/displayport_max7456.h"
#include "io/displayport_msp.h"
#include "io/gimbal.h"
#include "io/gps.h"
#include "io/ledstrip.h"
@ -715,6 +717,9 @@ static const clivalue_t valueTable[] = {
{ "yaw_deadband", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 100 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, yaw_deadband) },
{ "yaw_control_direction", VAR_INT8 | MASTER_VALUE, .config.minmax = { -1, 1 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, yaw_control_direction) },
// PG_PID_CONFIG
{ "pid_process_denom", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 1, MAX_PID_PROCESS_DENOM }, PG_PID_CONFIG, offsetof(pidConfig_t, pid_process_denom) },
// PG_PID_PROFILE
{ "d_lowpass_type", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_LOWPASS_TYPE }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_filter_type) },
{ "d_lowpass", VAR_INT16 | PROFILE_VALUE, .config.minmax = { 0, 16000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_lpf_hz) },
@ -731,7 +736,6 @@ static const clivalue_t valueTable[] = {
{ "iterm_windup", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 30, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermWindupPointPercent) },
{ "yaw_lowpass", VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, yaw_lpf_hz) },
{ "pid_process_denom", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 1, MAX_PID_PROCESS_DENOM }, PG_PID_CONFIG, offsetof(pidConfig_t, pid_process_denom) },
{ "pidsum_limit", VAR_FLOAT | PROFILE_VALUE, .config.minmax = { 0.1, 1.0 }, PG_PID_CONFIG, offsetof(pidProfile_t, pidSumLimit) },
{ "p_pitch", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, P8[PITCH]) },
@ -793,6 +797,7 @@ static const clivalue_t valueTable[] = {
{ "ledstrip_visual_beeper", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_LED_STRIP_CONFIG, offsetof(ledStripConfig_t, ledstrip_visual_beeper) },
#endif
// PG_SDCARD_CONFIG
#ifdef USE_SDCARD
{ "sdcard_dma", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_SDCARD_CONFIG, offsetof(sdcardConfig_t, useDma) },
#endif
@ -834,28 +839,35 @@ static const clivalue_t valueTable[] = {
{ "task_statistics", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_SYSTEM_CONFIG, offsetof(systemConfig_t, task_statistics) },
#endif
{ "debug_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DEBUG }, PG_SYSTEM_CONFIG, offsetof(systemConfig_t, debug_mode) },
// PG_VTX_CONFIG
#ifdef VTX
{ "vtx_band", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 1, 5 }, PG_VTX_CONFIG, offsetof(vtxConfig_t, vtx_band) },
{ "vtx_channel", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 1, 8 }, PG_VTX_CONFIG, offsetof(vtxConfig_t, vtx_channel) },
{ "vtx_mode", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 2 }, PG_VTX_CONFIG, offsetof(vtxConfig_t, vtx_mode) },
{ "vtx_mhz", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 5600, 5950 }, PG_VTX_CONFIG, offsetof(vtxConfig_t, vtx_mhz) },
#endif
#if defined(USE_RTC6705)
{ "vtx_channel", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 39 }, PG_VTX_CONFIG, offsetof(vtxConfig_t, vtx_channel) },
{ "vtx_power", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 1 }, PG_VTX_CONFIG, offsetof(vtxConfig_t, vtx_power) },
#endif
// PG_VCD_CONFIG
#ifdef USE_MAX7456
{ "vcd_video_system", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 2 }, PG_VCD_CONFIG, offsetof(vcdProfile_t, video_system) },
{ "vcd_h_offset", VAR_INT8 | MASTER_VALUE, .config.minmax = { -32, 31 }, PG_VCD_CONFIG, offsetof(vcdProfile_t, h_offset) },
{ "vcd_v_offset", VAR_INT8 | MASTER_VALUE, .config.minmax = { -15, 16 }, PG_VCD_CONFIG, offsetof(vcdProfile_t, v_offset) },
#endif
// PG_DISPLAY_PORT_MSP_CONFIG
#ifdef USE_MSP_DISPLAYPORT
{ "displayport_msp_col_adjust", VAR_INT8 | MASTER_VALUE, .config.minmax = { -6, 0 }, PG_DISPLAY_PORT_MSP_CONFIG, offsetof(displayPortProfile_t, colAdjust) },
{ "displayport_msp_row_adjust", VAR_INT8 | MASTER_VALUE, .config.minmax = { -3, 0 }, PG_DISPLAY_PORT_MSP_CONFIG, offsetof(displayPortProfile_t, rowAdjust) },
#endif
// PG_DISPLAY_PORT_MSP_CONFIG
#ifdef USE_MAX7456
{ "displayport_max7456_col_adjust", VAR_INT8| MASTER_VALUE, .config.minmax = { -6, 0 }, PG_DISPLAY_PORT_MAX7456_CONFIG, offsetof(displayPortProfile_t, colAdjust) },
{ "displayport_max7456_col_adjust", VAR_INT8| MASTER_VALUE, .config.minmax = { -6, 0 }, PG_DISPLAY_PORT_MSP_CONFIG, offsetof(displayPortProfile_t, colAdjust) },
{ "displayport_max7456_row_adjust", VAR_INT8| MASTER_VALUE, .config.minmax = { -3, 0 }, PG_DISPLAY_PORT_MAX7456_CONFIG, offsetof(displayPortProfile_t, rowAdjust) },
#endif
};
@ -1209,12 +1221,17 @@ static pitotmeterConfig_t pitotmeterConfigCopy;
#endif
static featureConfig_t featureConfigCopy;
static rxConfig_t rxConfigCopy;
// PG_PWM_CONFIG
#ifdef USE_PWM
static pwmConfig_t pwmConfigCopy;
#endif
#ifdef BLACKBOX
static blackboxConfig_t blackboxConfigCopy;
#endif
static rxFailsafeChannelConfig_t rxFailsafeChannelConfigsCopy[MAX_SUPPORTED_RC_CHANNEL_COUNT];
static rxChannelRangeConfig_t rxChannelRangeConfigsCopy[NON_AUX_CHANNEL_COUNT];
static motorConfig_t motorConfigCopy;
static throttleCorrectionConfig_t throttleCorrectionConfigCopy;
static failsafeConfig_t failsafeConfigCopy;
static boardAlignment_t boardAlignmentCopy;
#ifdef USE_SERVOS
@ -1233,11 +1250,9 @@ static armingConfig_t armingConfigCopy;
static rcControlsConfig_t rcControlsConfigCopy;
#ifdef GPS
static gpsConfig_t gpsConfigCopy;
#endif
#ifdef NAV
static positionEstimationConfig_t positionEstimationConfigCopy;
static navigationConfig_t navigationConfigCopy;
#endif
static airplaneConfig_t airplaneConfigCopy;
#ifdef TELEMETRY
static telemetryConfig_t telemetryConfigCopy;
#endif
@ -1252,7 +1267,21 @@ static osdConfig_t osdConfigCopy;
static systemConfig_t systemConfigCopy;
#ifdef BEEPER
static beeperDevConfig_t beeperDevConfigCopy;
static beeperConfig_t beeperConfigCopy;
#endif
#if defined(USE_RTC6705) || defined(VTX)
static vtxConfig_t vtxConfigCopy;
#endif
#ifdef USE_MAX7456
vcdProfile_t vcdProfileCopy;
#endif
#ifdef USE_MSP_DISPLAYPORT
displayPortProfile_t displayPortProfileMspCopy;
#endif
#ifdef USE_MAX7456
displayPortProfile_t displayPortProfileMax7456Copy;
#endif
static pidConfig_t pidConfigCopy;
static controlRateConfig_t controlRateProfilesCopy[CONTROL_RATE_PROFILE_COUNT];
static pidProfile_t pidProfileCopy[MAX_PROFILE_COUNT];
#endif // USE_PARAMETER_GROUPS
@ -1462,6 +1491,12 @@ static const cliCurrentAndDefaultConfig_t *getCurrentAndDefaultConfigs(pgn_t pgn
ret.currentConfig = &rxConfigCopy;
ret.defaultConfig = rxConfig();
break;
#ifdef USE_PWM
case PG_PWM_CONFIG:
ret.currentConfig = &pwmConfigCopy;
ret.defaultConfig = pwmConfig();
break;
#endif
#ifdef BLACKBOX
case PG_BLACKBOX_CONFIG:
ret.currentConfig = &blackboxConfigCopy;
@ -1472,6 +1507,9 @@ static const cliCurrentAndDefaultConfig_t *getCurrentAndDefaultConfigs(pgn_t pgn
ret.currentConfig = &motorConfigCopy;
ret.defaultConfig = motorConfig();
break;
case PG_THROTTLE_CORRECTION_CONFIG:
ret.currentConfig = &throttleCorrectionConfigCopy;
ret.defaultConfig = throttleCorrectionConfig();
case PG_FAILSAFE_CONFIG:
ret.currentConfig = &failsafeConfigCopy;
ret.defaultConfig = failsafeConfig();
@ -1523,17 +1561,15 @@ static const cliCurrentAndDefaultConfig_t *getCurrentAndDefaultConfigs(pgn_t pgn
ret.currentConfig = &gpsConfigCopy;
ret.defaultConfig = gpsConfig();
break;
#endif
#ifdef NAV
case PG_POSITION_ESTIMATION_CONFIG:
ret.currentConfig = &positionEstimationConfigCopy;
ret.defaultConfig = positionEstimationConfig();
break;
case PG_NAV_CONFIG:
case PG_NAVIGATION_CONFIG:
ret.currentConfig = &navigationConfigCopy;
ret.defaultConfig = navigationConfig();
break;
#endif
case PG_AIRPLANE_CONFIG:
ret.currentConfig = &airplaneConfigCopy;
ret.defaultConfig = airplaneConfig();
break;
#ifdef TELEMETRY
case PG_TELEMETRY_CONFIG:
ret.currentConfig = &telemetryConfigCopy;
@ -1560,10 +1596,10 @@ static const cliCurrentAndDefaultConfig_t *getCurrentAndDefaultConfigs(pgn_t pgn
ret.currentConfig = &controlRateProfilesCopy[0];
ret.defaultConfig = controlRateProfiles(0);
break;
/*!!TODO case PG_PID_PROFILE:
ret.currentConfig = &pidProfileCopy[getConfigProfile()];
ret.defaultConfig = pidProfile();
break;*/
case PG_PID_PROFILE:
ret.currentConfig = &pidProfileCopy[0];
ret.defaultConfig = pidProfiles(0);
break;
case PG_RX_FAILSAFE_CHANNEL_CONFIG:
ret.currentConfig = &rxFailsafeChannelConfigsCopy[0];
ret.defaultConfig = rxFailsafeChannelConfigs(0);
@ -1594,10 +1630,38 @@ static const cliCurrentAndDefaultConfig_t *getCurrentAndDefaultConfigs(pgn_t pgn
ret.currentConfig = &adjustmentRangesCopy[0];
ret.defaultConfig = adjustmentRanges(0);
break;
#ifdef BEEPER
case PG_BEEPER_CONFIG:
ret.currentConfig = &beeperConfigCopy;
ret.defaultConfig = beeperConfig();
break;
case PG_BEEPER_DEV_CONFIG:
ret.currentConfig = &beeperDevConfigCopy;
ret.defaultConfig = beeperDevConfig();
break;
#endif
#ifdef USE_MAX7456
case PG_VCD_CONFIG:
ret.currentConfig = &vcdProfileCopy;
ret.defaultConfig = vcdProfile();
break;
#endif
#ifdef USE_MSP_DISPLAYPORT
case PG_DISPLAY_PORT_MSP_CONFIG:
ret.currentConfig = &displayPortProfileMspCopy;
ret.defaultConfig = displayPortProfileMsp();
break;
#endif
#ifdef USE_MAX7456
case PG_DISPLAY_PORT_MAX7456_CONFIG:
ret.currentConfig = &displayPortProfileMax7456Copy;
ret.defaultConfig = displayPortProfileMax7456();
break;
#endif
case PG_PID_CONFIG:
ret.currentConfig = &pidConfigCopy;
ret.defaultConfig = pidConfig();
break;
default:
ret.currentConfig = NULL;
ret.defaultConfig = NULL;
@ -1725,16 +1789,7 @@ static void cliPrintVarDefault(const clivalue_t *var, uint32_t full, const maste
printValuePointer(var, defaultPtr, full);
}
#endif // USE_PARAMETER_GROUPS
static void cliPrintVar(const clivalue_t *var, uint32_t full)
{
const void *ptr = getValuePointer(var);
printValuePointer(var, ptr, full);
}
#ifndef USE_PARAMETER_GROUPS
static void dumpValues(uint16_t valueSection, uint8_t dumpMask, const master_t *defaultConfig)
{
const clivalue_t *value;
@ -1756,7 +1811,14 @@ static void dumpValues(uint16_t valueSection, uint8_t dumpMask, const master_t *
}
}
}
#endif
#endif // USE_PARAMETER_GROUPS
static void cliPrintVar(const clivalue_t *var, uint32_t full)
{
const void *ptr = getValuePointer(var);
printValuePointer(var, ptr, full);
}
static void cliPrintVarRange(const clivalue_t *var)
{
@ -3139,7 +3201,7 @@ static void cliFlashRead(char *cmdline)
#endif
#endif
#ifdef VTX
#if defined(USE_RTC6705) || defined(VTX)
static void printVtx(uint8_t dumpMask, const vtxConfig_t *vtxConfig, const vtxConfig_t *vtxConfigDefault)
{
// print out vtx channel settings
@ -3185,7 +3247,7 @@ static void cliVtx(char *cmdline)
ptr = cmdline;
i = atoi(ptr++);
if (i < MAX_CHANNEL_ACTIVATION_CONDITION_COUNT) {
vtxChannelActivationCondition_t *cac = &vtxConfig()->vtxChannelActivationConditions[i];
vtxChannelActivationCondition_t *cac = &vtxConfigMutable()->vtxChannelActivationConditions[i];
uint8_t validArgumentCount = 0;
ptr = nextArg(ptr);
if (ptr) {
@ -3797,7 +3859,33 @@ static void cliRateProfile(char *cmdline)
}
}
#ifndef USE_PARAMETER_GROUPS
#ifdef USE_PARAMETER_GROUPS
static void cliDumpPidProfile(uint8_t pidProfileIndex, uint8_t dumpMask)
{
if (pidProfileIndex >= MAX_PROFILE_COUNT) {
// Faulty values
return;
}
changePidProfile(pidProfileIndex);
cliPrintHashLine("profile");
cliProfile("");
cliPrint("\r\n");
dumpAllValues(PROFILE_VALUE, dumpMask);
}
static void cliDumpRateProfile(uint8_t rateProfileIndex, uint8_t dumpMask)
{
if (rateProfileIndex >= CONTROL_RATE_PROFILE_COUNT) {
// Faulty values
return;
}
changeControlRateProfile(rateProfileIndex);
cliPrintHashLine("rateprofile");
cliRateProfile("");
cliPrint("\r\n");
dumpAllValues(PROFILE_RATE_VALUE, dumpMask);
}
#else
static void cliDumpPidProfile(uint8_t pidProfileIndex, uint8_t dumpMask, const master_t *defaultConfig)
{
if (pidProfileIndex >= MAX_PROFILE_COUNT) {
@ -4130,6 +4218,7 @@ const cliResourceValue_t resourceTable[] = {
};
#ifndef USE_PARAMETER_GROUPS
//!! TODO for parameter groups
static void printResource(uint8_t dumpMask, const master_t *defaultConfig)
{
for (unsigned int i = 0; i < ARRAYLEN(resourceTable); i++) {
@ -4352,8 +4441,6 @@ static void backupConfigs(void)
#endif
}
}
const pgRegistry_t* reg = pgFind(PG_PID_PROFILE);
memcpy(&pidProfileCopy[0], reg->address, sizeof(pidProfile_t) * MAX_PROFILE_COUNT);
}
static void restoreConfigs(void)
@ -4373,8 +4460,6 @@ static void restoreConfigs(void)
#endif
}
}
const pgRegistry_t* reg = pgFind(PG_PID_PROFILE);
memcpy(reg->address, &pidProfileCopy[0], sizeof(pidProfile_t) * MAX_PROFILE_COUNT);
}
#endif
@ -4398,18 +4483,12 @@ static void printConfig(char *cmdline, bool doDiff)
dumpMask = dumpMask | DO_DIFF;
}
#ifdef USE_PARAMETER_GROUPS
backupConfigs();
// reset all configs to defaults to do differencing
resetConfigs();
#if defined(TARGET_CONFIG)
targetConfiguration();
#endif
#else
static master_t defaultConfig;
createDefaultConfig(&defaultConfig);
#if defined(TARGET_CONFIG)
targetConfiguration(&defaultConfig);
#endif
if (checkCommand(options, "showdefaults")) {
dumpMask = dumpMask | SHOW_DEFAULTS; // add default values as comments for changed values
@ -4429,80 +4508,80 @@ static void printConfig(char *cmdline, bool doDiff)
#ifdef USE_RESOURCE_MGMT
cliPrintHashLine("resources");
printResource(dumpMask, &defaultConfig);
//!!TODO printResource(dumpMask, &defaultConfig);
#endif
#ifndef USE_QUAD_MIXER_ONLY
cliPrintHashLine("mixer");
const bool equalsDefault = mixerConfig()->mixerMode == defaultConfig.mixerConfig.mixerMode;
const bool equalsDefault = mixerConfigCopy.mixerMode == mixerConfig()->mixerMode;
const char *formatMixer = "mixer %s\r\n";
cliDefaultPrintf(dumpMask, equalsDefault, formatMixer, mixerNames[defaultConfig.mixerConfig.mixerMode - 1]);
cliDumpPrintf(dumpMask, equalsDefault, formatMixer, mixerNames[mixerConfig()->mixerMode - 1]);
cliDefaultPrintf(dumpMask, equalsDefault, formatMixer, mixerNames[mixerConfig()->mixerMode - 1]);
cliDumpPrintf(dumpMask, equalsDefault, formatMixer, mixerNames[mixerConfigCopy.mixerMode - 1]);
cliDumpPrintf(dumpMask, masterConfig.customMotorMixer[0].throttle == 0.0f, "\r\nmmix reset\r\n\r\n");
cliDumpPrintf(dumpMask, customMotorMixer(0)->throttle == 0.0f, "\r\nmmix reset\r\n\r\n");
printMotorMix(dumpMask, customMotorMixer(0), defaultConfig.customMotorMixer);
printMotorMix(dumpMask, customMotorMixerCopy, customMotorMixer(0));
#ifdef USE_SERVOS
cliPrintHashLine("servo");
printServo(dumpMask, servoParams(0), defaultConfig.servoProfile.servoConf);
printServo(dumpMask, servoParamsCopy, servoParams(0));
cliPrintHashLine("servo mix");
// print custom servo mixer if exists
cliDumpPrintf(dumpMask, masterConfig.customServoMixer[0].rate == 0, "smix reset\r\n\r\n");
printServoMix(dumpMask, customServoMixers(0), defaultConfig.customServoMixer);
cliDumpPrintf(dumpMask, customServoMixers(0)->rate == 0, "smix reset\r\n\r\n");
printServoMix(dumpMask, customServoMixersCopy, customServoMixers(0));
#endif
#endif
cliPrintHashLine("feature");
printFeature(dumpMask, featureConfig(), &defaultConfig.featureConfig);
printFeature(dumpMask, &featureConfigCopy, featureConfig());
#ifdef BEEPER
cliPrintHashLine("beeper");
printBeeper(dumpMask, beeperConfig(), &defaultConfig.beeperConfig);
printBeeper(dumpMask, &beeperConfigCopy, beeperConfig());
#endif
cliPrintHashLine("map");
printMap(dumpMask, rxConfig(), &defaultConfig.rxConfig);
printMap(dumpMask, &rxConfigCopy, rxConfig());
cliPrintHashLine("serial");
printSerial(dumpMask, serialConfig(), &defaultConfig.serialConfig);
printSerial(dumpMask, &serialConfigCopy, serialConfig());
#ifdef LED_STRIP
cliPrintHashLine("led");
printLed(dumpMask, ledStripConfig()->ledConfigs, defaultConfig.ledStripConfig.ledConfigs);
printLed(dumpMask, ledStripConfigCopy.ledConfigs, ledStripConfig()->ledConfigs);
cliPrintHashLine("color");
printColor(dumpMask, ledStripConfig()->colors, defaultConfig.ledStripConfig.colors);
printColor(dumpMask, ledStripConfigCopy.colors, ledStripConfig()->colors);
cliPrintHashLine("mode_color");
printModeColor(dumpMask, ledStripConfig(), &defaultConfig.ledStripConfig);
printModeColor(dumpMask, &ledStripConfigCopy, ledStripConfig());
#endif
cliPrintHashLine("aux");
printAux(dumpMask, modeActivationConditions(0), defaultConfig.modeActivationProfile.modeActivationConditions);
printAux(dumpMask, modeActivationConditionsCopy, modeActivationConditions(0));
cliPrintHashLine("adjrange");
printAdjustmentRange(dumpMask, adjustmentRanges(0), defaultConfig.adjustmentProfile.adjustmentRanges);
printAdjustmentRange(dumpMask, adjustmentRangesCopy, adjustmentRanges(0));
cliPrintHashLine("rxrange");
printRxRange(dumpMask, rxConfig()->channelRanges, defaultConfig.rxConfig.channelRanges);
printRxRange(dumpMask, rxChannelRangeConfigsCopy, rxChannelRangeConfigs(0));
#ifdef VTX
#if defined(USE_RTC6705) || defined(VTX)
cliPrintHashLine("vtx");
printVtx(dumpMask, vtxConfig(), &defaultConfig.vtxConfig);
printVtx(dumpMask, &vtxConfigCopy, vtxConfig());
#endif
cliPrintHashLine("rxfail");
printRxFailsafe(dumpMask, rxConfig()->failsafe_channel_configurations, defaultConfig.rxConfig.failsafe_channel_configurations);
printRxFailsafe(dumpMask, rxFailsafeChannelConfigsCopy, rxFailsafeChannelConfigs(0));
cliPrintHashLine("master");
dumpValues(MASTER_VALUE, dumpMask, &defaultConfig);
dumpAllValues(MASTER_VALUE, dumpMask);
if (dumpMask & DUMP_ALL) {
const uint8_t pidProfileIndexSave = getCurrentPidProfileIndex();
for (uint32_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
cliDumpPidProfile(pidProfileIndex, dumpMask, &defaultConfig);
cliDumpPidProfile(pidProfileIndex, dumpMask);
}
changePidProfile(pidProfileIndexSave);
cliPrintHashLine("restore original profile selection");
@ -4510,7 +4589,7 @@ static void printConfig(char *cmdline, bool doDiff)
const uint8_t controlRateProfileIndexSave = getCurrentControlRateProfileIndex();
for (uint32_t rateIndex = 0; rateIndex < CONTROL_RATE_PROFILE_COUNT; rateIndex++) {
cliDumpRateProfile(rateIndex, dumpMask, &defaultConfig);
cliDumpRateProfile(rateIndex, dumpMask);
}
changeControlRateProfile(controlRateProfileIndexSave);
cliPrintHashLine("restore original rateprofile selection");
@ -4519,20 +4598,19 @@ static void printConfig(char *cmdline, bool doDiff)
cliPrintHashLine("save configuration");
cliPrint("save");
} else {
cliDumpPidProfile(getCurrentPidProfileIndex(), dumpMask, &defaultConfig);
cliDumpPidProfile(getCurrentPidProfileIndex(), dumpMask);
cliDumpRateProfile(getCurrentControlRateProfileIndex(), dumpMask, &defaultConfig);
cliDumpRateProfile(getCurrentControlRateProfileIndex(), dumpMask);
}
}
if (dumpMask & DUMP_PROFILE) {
cliDumpPidProfile(getCurrentPidProfileIndex(), dumpMask, &defaultConfig);
cliDumpPidProfile(getCurrentPidProfileIndex(), dumpMask);
}
if (dumpMask & DUMP_RATES) {
cliDumpRateProfile(getCurrentControlRateProfileIndex(), dumpMask, &defaultConfig);
cliDumpRateProfile(getCurrentControlRateProfileIndex(), dumpMask);
}
#endif
#ifdef USE_PARAMETER_GROUPS
// restore configs from copies
restoreConfigs();

11
src/main/fc/config.c
View file

@ -125,11 +125,18 @@ PG_RESET_TEMPLATE(systemConfig_t, systemConfig,
.name = { 0 }
);
#ifdef BEEPER
PG_REGISTER(beeperConfig_t, beeperConfig, PG_BEEPER_CONFIG, 0);
#endif
#ifdef USE_ADC
PG_REGISTER_WITH_RESET_FN(adcConfig_t, adcConfig, PG_ADC_CONFIG, 0);
#endif
#ifdef USE_PWM
PG_REGISTER_WITH_RESET_FN(pwmConfig_t, pwmConfig, PG_PWM_CONFIG, 0);
#endif
#ifdef USE_PPM
PG_REGISTER_WITH_RESET_FN(ppmConfig_t, ppmConfig, PG_PPM_CONFIG, 0);
#endif
PG_REGISTER_WITH_RESET_FN(statusLedConfig_t, statusLedConfig, PG_STATUS_LED_CONFIG, 0);
PG_REGISTER_WITH_RESET_FN(serialPinConfig_t, serialPinConfig, PG_SERIAL_PIN_CONFIG, 0);
@ -819,7 +826,7 @@ static void setPidProfile(uint8_t pidProfileIndex)
if (pidProfileIndex < MAX_PROFILE_COUNT) {
systemConfigMutable()->pidProfileIndex = pidProfileIndex;
currentPidProfile = pidProfilesMutable(pidProfileIndex);
pidInit(); // re-initialise pid controller to re-initialise filters and config
pidInit(currentPidProfile); // re-initialise pid controller to re-initialise filters and config
}
}

3
src/main/fc/fc_core.c
View file

@ -56,6 +56,7 @@
#include "msp/msp_serial.h"
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/beeper.h"
#include "io/gps.h"
#include "io/motors.h"
@ -63,7 +64,7 @@
#include "io/serial.h"
#include "io/statusindicator.h"
#include "io/transponder_ir.h"
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/vtx.h"
#include "rx/rx.h"

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

@ -428,7 +428,7 @@ void init(void)
LED1_OFF;
// gyro.targetLooptime set in sensorsAutodetect(), so we are ready to call pidInit()
pidInit();
pidInit(currentPidProfile);
imuInit();

1
src/main/fc/fc_msp.c
View file

@ -83,6 +83,7 @@
#include "io/serial_4way.h"
#include "io/servos.h"
#include "io/transponder_ir.h"
#include "io/vtx.h"
#include "msp/msp.h"
#include "msp/msp_protocol.h"

6
src/main/flight/pid.c
View file

@ -256,11 +256,11 @@ void pidInitConfig(const pidProfile_t *pidProfile) {
ITermWindupPointInv = 1.0f / (1.0f - ITermWindupPoint);
}
void pidInit(void)
void pidInit(const pidProfile_t *pidProfile)
{
pidSetTargetLooptime(gyro.targetLooptime * pidConfig()->pid_process_denom); // Initialize pid looptime
pidInitFilters(currentPidProfile);
pidInitConfig(currentPidProfile);
pidInitFilters(pidProfile);
pidInitConfig(pidProfile);
}
static float calcHorizonLevelStrength(void) {

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

@ -115,5 +115,5 @@ void pidSetTargetLooptime(uint32_t pidLooptime);
void pidSetItermAccelerator(float newItermAccelerator);
void pidInitFilters(const pidProfile_t *pidProfile);
void pidInitConfig(const pidProfile_t *pidProfile);
void pidInit(void);
void pidInit(const pidProfile_t *pidProfile);

8
src/main/io/beeper.c
View file

@ -53,13 +53,15 @@ PG_REGISTER_WITH_RESET_TEMPLATE(beeperDevConfig_t, beeperDevConfig, PG_BEEPER_DE
#define IS_OPEN_DRAIN true
#define IS_INVERTED false
#endif
#ifndef BEEPER
#define BEEPER NONE
#ifdef BEEPER
#define BEEPER_PIN BEEPER
#else
#define BEEPER_PIN NONE
#endif
PG_RESET_TEMPLATE(beeperDevConfig_t, beeperDevConfig,
.isOpenDrain = IS_OPEN_DRAIN,
.isInverted = IS_INVERTED,
.ioTag = IO_TAG(BEEPER)
.ioTag = IO_TAG(BEEPER_PIN)
);
#if FLASH_SIZE > 64

6
src/main/io/transponder_ir.c
View file

@ -37,6 +37,12 @@
#include "io/transponder_ir.h"
PG_REGISTER_WITH_RESET_TEMPLATE(transponderConfig_t, transponderConfig, PG_TRANSPONDER_CONFIG, 0);
PG_RESET_TEMPLATE(transponderConfig_t, transponderConfig,
.data = { 0x12, 0x34, 0x56, 0x78, 0x9A, 0xBC } // Note, this is NOT a valid transponder code, it's just for testing production hardware
);
static bool transponderInitialised = false;
static bool transponderRepeat = false;

21
src/main/io/vtx.c
View file

@ -19,8 +19,6 @@
// Get target build configuration
#include "platform.h"
#ifdef VTX
#include "common/maths.h"
#include "config/config_eeprom.h"
@ -29,12 +27,14 @@
#include "drivers/vtx_rtc6705.h"
#include "fc/config.h"
#include "fc/runtime_config.h"
#include "io/beeper.h"
#include "io/osd.h"
#include "io/vtx.h"
#if defined(USE_RTC6705) || defined(VTX)
PG_REGISTER_WITH_RESET_TEMPLATE(vtxConfig_t, vtxConfig, PG_VTX_CONFIG, 0);
@ -45,6 +45,10 @@ PG_RESET_TEMPLATE(vtxConfig_t, vtxConfig,
.vtx_mhz = 5740 //F0
);
#endif
#ifdef VTX
static uint8_t locked = 0;
void vtxInit(void)
@ -77,22 +81,22 @@ static void setChannelSaveAndNotify(uint8_t *bandOrChannel, uint8_t step, int32_
void vtxIncrementBand(void)
{
setChannelSaveAndNotify(&(vtxConfig()->vtx_band), 1, RTC6705_BAND_MIN, RTC6705_BAND_MAX);
setChannelSaveAndNotify(&(vtxConfigMutable()->vtx_band), 1, RTC6705_BAND_MIN, RTC6705_BAND_MAX);
}
void vtxDecrementBand(void)
{
setChannelSaveAndNotify(&(vtxConfig()->vtx_band), -1, RTC6705_BAND_MIN, RTC6705_BAND_MAX);
setChannelSaveAndNotify(&(vtxConfigMutable()->vtx_band), -1, RTC6705_BAND_MIN, RTC6705_BAND_MAX);
}
void vtxIncrementChannel(void)
{
setChannelSaveAndNotify(&(vtxConfig()->vtx_channel), 1, RTC6705_CHANNEL_MIN, RTC6705_CHANNEL_MAX);
setChannelSaveAndNotify(&(vtxConfigMutable()->vtx_channel), 1, RTC6705_CHANNEL_MIN, RTC6705_CHANNEL_MAX);
}
void vtxDecrementChannel(void)
{
setChannelSaveAndNotify(&(vtxConfig()->vtx_channel), -1, RTC6705_CHANNEL_MIN, RTC6705_CHANNEL_MAX);
setChannelSaveAndNotify(&(vtxConfigMutable()->vtx_channel), -1, RTC6705_CHANNEL_MIN, RTC6705_CHANNEL_MAX);
}
void vtxUpdateActivatedChannel(void)
@ -103,10 +107,9 @@ void vtxUpdateActivatedChannel(void)
if (vtxConfig()->vtx_mode == 2 && !locked) {
static uint8_t lastIndex = -1;
uint8_t index;
for (index = 0; index < MAX_CHANNEL_ACTIVATION_CONDITION_COUNT; index++) {
vtxChannelActivationCondition_t *vtxChannelActivationCondition = &vtxConfig()->vtxChannelActivationConditions[index];
for (uint8_t index = 0; index < MAX_CHANNEL_ACTIVATION_CONDITION_COUNT; index++) {
const vtxChannelActivationCondition_t *vtxChannelActivationCondition = &vtxConfig()->vtxChannelActivationConditions[index];
if (isRangeActive(vtxChannelActivationCondition->auxChannelIndex, &vtxChannelActivationCondition->range)
&& index != lastIndex) {

9
src/main/sensors/sonar.c
View file

@ -32,6 +32,8 @@
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "drivers/io.h"
#include "fc/runtime_config.h"
#include "sensors/sensors.h"
@ -49,6 +51,13 @@ float sonarMaxTiltCos;
static int32_t calculatedAltitude;
PG_REGISTER_WITH_RESET_TEMPLATE(sonarConfig_t, sonarConfig, PG_SONAR_CONFIG, 0);
PG_RESET_TEMPLATE(sonarConfig_t, sonarConfig,
.triggerTag = IO_TAG(SONAR_TRIGGER_PIN),
.echoTag = IO_TAG(SONAR_ECHO_PIN)
);
void sonarInit(const sonarConfig_t *sonarConfig)
{
sonarRange_t sonarRange;

2
src/main/sensors/sonar.h
View file

@ -28,6 +28,8 @@ extern int16_t sonarMaxRangeCm;
extern int16_t sonarCfAltCm;
extern int16_t sonarMaxAltWithTiltCm;
PG_DECLARE(sonarConfig_t, sonarConfig);
void sonarInit(const sonarConfig_t *sonarConfig);
void sonarUpdate(timeUs_t currentTimeUs);
int32_t sonarRead(void);

46
src/main/target/ALIENFLIGHTF1/config.c
View file

@ -21,20 +21,18 @@
#include <platform.h>
#ifdef TARGET_CONFIG
#include "common/axis.h"
#include "drivers/pwm_esc_detect.h"
#include "drivers/pwm_output.h"
#include "fc/rc_controls.h"
#include "fc/config.h"
#include "flight/failsafe.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "rx/rx.h"
#include "config/config_profile.h"
#include "config/config_master.h"
#ifdef BRUSHED_MOTORS_PWM_RATE
#undef BRUSHED_MOTORS_PWM_RATE
#endif
@ -42,29 +40,29 @@
#define BRUSHED_MOTORS_PWM_RATE 32000 // 32kHz
// alternative defaults settings for AlienFlight targets
void targetConfiguration(master_t *config)
void targetConfiguration(void)
{
config->rxConfig.spektrum_sat_bind = 5;
config->rxConfig.spektrum_sat_bind_autoreset = 1;
rxConfigMutable()->spektrum_sat_bind = 5;
rxConfigMutable()->spektrum_sat_bind_autoreset = 1;
if (hardwareMotorType == MOTOR_BRUSHED) {
config->motorConfig.dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
}
config->profile[0].pidProfile.P8[ROLL] = 90;
config->profile[0].pidProfile.I8[ROLL] = 44;
config->profile[0].pidProfile.D8[ROLL] = 60;
config->profile[0].pidProfile.P8[PITCH] = 90;
config->profile[0].pidProfile.I8[PITCH] = 44;
config->profile[0].pidProfile.D8[PITCH] = 60;
pidProfilesMutable(0)->P8[FD_ROLL] = 90;
pidProfilesMutable(0)->I8[FD_ROLL] = 44;
pidProfilesMutable(0)->D8[FD_ROLL] = 60;
pidProfilesMutable(0)->P8[FD_PITCH] = 90;
pidProfilesMutable(0)->I8[FD_PITCH] = 44;
pidProfilesMutable(0)->D8[FD_PITCH] = 60;
config->customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R
config->customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R
config->customMotorMixer[2] = (motorMixer_t){ 1.0f, 0.414178f, 1.0f, 1.0f }; // REAR_L
config->customMotorMixer[3] = (motorMixer_t){ 1.0f, 0.414178f, -1.0f, -1.0f }; // FRONT_L
config->customMotorMixer[4] = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f }; // MIDFRONT_R
config->customMotorMixer[5] = (motorMixer_t){ 1.0f, 1.0f, -0.414178f, 1.0f }; // MIDFRONT_L
config->customMotorMixer[6] = (motorMixer_t){ 1.0f, -1.0f, 0.414178f, 1.0f }; // MIDREAR_R
config->customMotorMixer[7] = (motorMixer_t){ 1.0f, 1.0f, 0.414178f, -1.0f }; // MIDREAR_L
*customMotorMixerMutable(0) = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R
*customMotorMixerMutable(1) = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R
*customMotorMixerMutable(2) = (motorMixer_t){ 1.0f, 0.414178f, 1.0f, 1.0f }; // REAR_L
*customMotorMixerMutable(3) = (motorMixer_t){ 1.0f, 0.414178f, -1.0f, -1.0f }; // FRONT_L
*customMotorMixerMutable(4) = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f }; // MIDFRONT_R
*customMotorMixerMutable(5) = (motorMixer_t){ 1.0f, 1.0f, -0.414178f, 1.0f }; // MIDFRONT_L
*customMotorMixerMutable(6) = (motorMixer_t){ 1.0f, -1.0f, 0.414178f, 1.0f }; // MIDREAR_R
*customMotorMixerMutable(7) = (motorMixer_t){ 1.0f, 1.0f, 0.414178f, -1.0f }; // MIDREAR_L
}
#endif

68
src/main/target/ALIENFLIGHTF3/config.c
View file

@ -21,27 +21,21 @@
#include <platform.h>
#ifdef TARGET_CONFIG
#include "common/axis.h"
#include "drivers/compass.h"
#include "drivers/io.h"
#include "drivers/light_led.h"
#include "drivers/pwm_esc_detect.h"
#include "drivers/pwm_output.h"
#include "drivers/sensor.h"
#include "fc/rc_controls.h"
#include "fc/config.h"
#include "flight/failsafe.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "rx/rx.h"
#include "sensors/sensors.h"
#include "sensors/compass.h"
#include "config/config_profile.h"
#include "config/config_master.h"
#include "sensors/gyro.h"
#include "hardware_revision.h"
@ -52,11 +46,11 @@
#define BRUSHED_MOTORS_PWM_RATE 32000 // 32kHz
// alternative defaults settings for AlienFlight targets
void targetConfiguration(master_t *config)
void targetConfiguration(void)
{
/* depending on revision ... depends on the LEDs to be utilised. */
if (hardwareRevision == AFF3_REV_2) {
config->statusLedConfig.polarity = 0
statusLedConfigMutable()->polarity = 0
#ifdef LED0_A_INVERTED
| BIT(0)
#endif
@ -69,45 +63,45 @@ void targetConfiguration(master_t *config)
;
for (int i = 0; i < LED_NUMBER; i++) {
config->statusLedConfig.ledTags[i] = IO_TAG_NONE;
statusLedConfigMutable()->ledTags[i] = IO_TAG_NONE;
}
#ifdef LED0_A
config->statusLedConfig.ledTags[0] = IO_TAG(LED0_A);
statusLedConfigMutable()->ledTags[0] = IO_TAG(LED0_A);
#endif
#ifdef LED1_A
config->statusLedConfig.ledTags[1] = IO_TAG(LED1_A);
statusLedConfigMutable()->ledTags[1] = IO_TAG(LED1_A);
#endif
#ifdef LED2_A
config->statusLedConfig.ledTags[2] = IO_TAG(LED2_A);
statusLedConfigMutable()->ledTags[2] = IO_TAG(LED2_A);
#endif
} else {
config->gyroConfig.gyro_sync_denom = 2;
config->pidConfig.pid_process_denom = 2;
gyroConfigMutable()->gyro_sync_denom = 2;
pidConfigMutable()->pid_process_denom = 2;
}
config->rxConfig.spektrum_sat_bind = 5;
config->rxConfig.spektrum_sat_bind_autoreset = 1;
config->compassConfig.mag_hardware = MAG_NONE; // disabled by default
rxConfigMutable()->spektrum_sat_bind = 5;
rxConfigMutable()->spektrum_sat_bind_autoreset = 1;
compassConfigMutable()->mag_hardware = MAG_NONE; // disabled by default
if (hardwareMotorType == MOTOR_BRUSHED) {
config->motorConfig.dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
config->pidConfig.pid_process_denom = 1;
motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
pidConfigMutable()->pid_process_denom = 1;
}
config->profile[0].pidProfile.P8[ROLL] = 90;
config->profile[0].pidProfile.I8[ROLL] = 44;
config->profile[0].pidProfile.D8[ROLL] = 60;
config->profile[0].pidProfile.P8[PITCH] = 90;
config->profile[0].pidProfile.I8[PITCH] = 44;
config->profile[0].pidProfile.D8[PITCH] = 60;
pidProfilesMutable(0)->P8[FD_ROLL] = 90;
pidProfilesMutable(0)->I8[FD_ROLL] = 44;
pidProfilesMutable(0)->D8[FD_ROLL] = 60;
pidProfilesMutable(0)->P8[FD_PITCH] = 90;
pidProfilesMutable(0)->I8[FD_PITCH] = 44;
pidProfilesMutable(0)->D8[FD_PITCH] = 60;
config->customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R
config->customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R
config->customMotorMixer[2] = (motorMixer_t){ 1.0f, 0.414178f, 1.0f, 1.0f }; // REAR_L
config->customMotorMixer[3] = (motorMixer_t){ 1.0f, 0.414178f, -1.0f, -1.0f }; // FRONT_L
config->customMotorMixer[4] = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f }; // MIDFRONT_R
config->customMotorMixer[5] = (motorMixer_t){ 1.0f, 1.0f, -0.414178f, 1.0f }; // MIDFRONT_L
config->customMotorMixer[6] = (motorMixer_t){ 1.0f, -1.0f, 0.414178f, 1.0f }; // MIDREAR_R
config->customMotorMixer[7] = (motorMixer_t){ 1.0f, 1.0f, 0.414178f, -1.0f }; // MIDREAR_L
*customMotorMixerMutable(0) = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R
*customMotorMixerMutable(1) = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R
*customMotorMixerMutable(2) = (motorMixer_t){ 1.0f, 0.414178f, 1.0f, 1.0f }; // REAR_L
*customMotorMixerMutable(3) = (motorMixer_t){ 1.0f, 0.414178f, -1.0f, -1.0f }; // FRONT_L
*customMotorMixerMutable(4) = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f }; // MIDFRONT_R
*customMotorMixerMutable(5) = (motorMixer_t){ 1.0f, 1.0f, -0.414178f, 1.0f }; // MIDFRONT_L
*customMotorMixerMutable(6) = (motorMixer_t){ 1.0f, -1.0f, 0.414178f, 1.0f }; // MIDREAR_R
*customMotorMixerMutable(7) = (motorMixer_t){ 1.0f, 1.0f, 0.414178f, -1.0f }; // MIDREAR_L
}
#endif

76
src/main/target/ALIENFLIGHTF4/config.c
View file

@ -21,17 +21,15 @@
#include <platform.h>
#ifdef TARGET_CONFIG
#include "common/axis.h"
#include "drivers/sensor.h"
#include "drivers/compass.h"
#include "config/feature.h"
#include "drivers/pwm_esc_detect.h"
#include "drivers/pwm_output.h"
#include "drivers/serial.h"
#include "fc/rc_controls.h"
#include "fc/config.h"
#include "flight/failsafe.h"
#include "flight/mixer.h"
#include "flight/pid.h"
@ -41,13 +39,9 @@
#include "telemetry/telemetry.h"
#include "sensors/sensors.h"
#include "sensors/battery.h"
#include "sensors/compass.h"
#include "config/config_profile.h"
#include "config/config_master.h"
#include "config/feature.h"
#include "hardware_revision.h"
#define CURRENTOFFSET 2500 // ACS712/714-30A - 0A = 2.5V
@ -60,45 +54,45 @@
#define BRUSHED_MOTORS_PWM_RATE 32000 // 32kHz
// alternative defaults settings for AlienFlight targets
void targetConfiguration(master_t *config)
void targetConfiguration(void)
{
config->batteryConfig.currentMeterOffset = CURRENTOFFSET;
config->batteryConfig.currentMeterScale = CURRENTSCALE;
config->compassConfig.mag_hardware = MAG_NONE; // disabled by default
batteryConfigMutable()->currentMeterOffset = CURRENTOFFSET;
batteryConfigMutable()->currentMeterScale = CURRENTSCALE;
compassConfigMutable()->mag_hardware = MAG_NONE; // disabled by default
if (hardwareMotorType == MOTOR_BRUSHED) {
config->motorConfig.dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
config->pidConfig.pid_process_denom = 1;
motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
pidConfigMutable()->pid_process_denom = 1;
}
if (hardwareRevision == AFF4_REV_1) {
config->rxConfig.serialrx_provider = SERIALRX_SPEKTRUM2048;
config->rxConfig.spektrum_sat_bind = 5;
config->rxConfig.spektrum_sat_bind_autoreset = 1;
rxConfigMutable()->serialrx_provider = SERIALRX_SPEKTRUM2048;
rxConfigMutable()->spektrum_sat_bind = 5;
rxConfigMutable()->spektrum_sat_bind_autoreset = 1;
} else {
config->rxConfig.serialrx_provider = SERIALRX_SBUS;
config->rxConfig.sbus_inversion = 0;
config->serialConfig.portConfigs[findSerialPortIndexByIdentifier(TELEMETRY_UART)].functionMask = FUNCTION_TELEMETRY_FRSKY;
config->telemetryConfig.telemetry_inversion = 0;
intFeatureSet(FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY, &config->featureConfig.enabledFeatures);
rxConfigMutable()->serialrx_provider = SERIALRX_SBUS;
rxConfigMutable()->sbus_inversion = 0;
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(TELEMETRY_UART)].functionMask = FUNCTION_TELEMETRY_FRSKY;
telemetryConfigMutable()->telemetry_inversion = 0;
featureSet(FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY);
}
config->profile[0].pidProfile.P8[ROLL] = 53;
config->profile[0].pidProfile.I8[ROLL] = 45;
config->profile[0].pidProfile.D8[ROLL] = 52;
config->profile[0].pidProfile.P8[PITCH] = 53;
config->profile[0].pidProfile.I8[PITCH] = 45;
config->profile[0].pidProfile.D8[PITCH] = 52;
config->profile[0].pidProfile.P8[YAW] = 64;
config->profile[0].pidProfile.D8[YAW] = 18;
pidProfilesMutable(0)->P8[FD_ROLL] = 53;
pidProfilesMutable(0)->I8[FD_ROLL] = 45;
pidProfilesMutable(0)->D8[FD_ROLL] = 52;
pidProfilesMutable(0)->P8[FD_PITCH] = 53;
pidProfilesMutable(0)->I8[FD_PITCH] = 45;
pidProfilesMutable(0)->D8[FD_PITCH] = 52;
pidProfilesMutable(0)->P8[FD_YAW] = 64;
pidProfilesMutable(0)->D8[FD_YAW] = 18;
config->customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R
config->customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R
config->customMotorMixer[2] = (motorMixer_t){ 1.0f, 0.414178f, 1.0f, 1.0f }; // REAR_L
config->customMotorMixer[3] = (motorMixer_t){ 1.0f, 0.414178f, -1.0f, -1.0f }; // FRONT_L
config->customMotorMixer[4] = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f }; // MIDFRONT_R
config->customMotorMixer[5] = (motorMixer_t){ 1.0f, 1.0f, -0.414178f, 1.0f }; // MIDFRONT_L
config->customMotorMixer[6] = (motorMixer_t){ 1.0f, -1.0f, 0.414178f, 1.0f }; // MIDREAR_R
config->customMotorMixer[7] = (motorMixer_t){ 1.0f, 1.0f, 0.414178f, -1.0f }; // MIDREAR_L
*customMotorMixerMutable(0) = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R
*customMotorMixerMutable(1) = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R
*customMotorMixerMutable(2) = (motorMixer_t){ 1.0f, 0.414178f, 1.0f, 1.0f }; // REAR_L
*customMotorMixerMutable(3) = (motorMixer_t){ 1.0f, 0.414178f, -1.0f, -1.0f }; // FRONT_L
*customMotorMixerMutable(4) = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f }; // MIDFRONT_R
*customMotorMixerMutable(5) = (motorMixer_t){ 1.0f, 1.0f, -0.414178f, 1.0f }; // MIDFRONT_L
*customMotorMixerMutable(6) = (motorMixer_t){ 1.0f, -1.0f, 0.414178f, 1.0f }; // MIDREAR_R
*customMotorMixerMutable(7) = (motorMixer_t){ 1.0f, 1.0f, 0.414178f, -1.0f }; // MIDREAR_L
}
#endif

75
src/main/target/ALIENFLIGHTNGF7/config.c
View file

@ -23,15 +23,12 @@
#ifdef TARGET_CONFIG
#include "common/axis.h"
#include "drivers/sensor.h"
#include "drivers/compass.h"
#include "config/feature.h"
#include "drivers/pwm_esc_detect.h"
#include "drivers/pwm_output.h"
#include "drivers/serial.h"
#include "fc/rc_controls.h"
#include "fc/config.h"
#include "flight/failsafe.h"
#include "flight/mixer.h"
#include "flight/pid.h"
@ -41,13 +38,9 @@
#include "telemetry/telemetry.h"
#include "sensors/sensors.h"
#include "sensors/battery.h"
#include "sensors/compass.h"
#include "config/config_profile.h"
#include "config/config_master.h"
#include "config/feature.h"
#include "hardware_revision.h"
#define CURRENTOFFSET 2500 // ACS712/714-30A - 0A = 2.5V
@ -60,45 +53,45 @@
#define BRUSHED_MOTORS_PWM_RATE 32000 // 32kHz
// alternative defaults settings for AlienFlight targets
void targetConfiguration(master_t *config)
void targetConfiguration(void)
{
config->batteryConfig.currentMeterOffset = CURRENTOFFSET;
config->batteryConfig.currentMeterScale = CURRENTSCALE;
config->compassConfig.mag_hardware = MAG_NONE; // disabled by default
batteryConfigMutable()->currentMeterOffset = CURRENTOFFSET;
batteryConfigMutable()->currentMeterScale = CURRENTSCALE;
compassConfigMutable()->mag_hardware = MAG_NONE; // disabled by default
if (hardwareMotorType == MOTOR_BRUSHED) {
config->motorConfig.dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
config->pidConfig.pid_process_denom = 1;
motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
pidConfigMutable()->pid_process_denom = 1;
}
if (hardwareRevision == AFF7_REV_1) {
config->rxConfig.serialrx_provider = SERIALRX_SPEKTRUM2048;
config->rxConfig.spektrum_sat_bind = 5;
config->rxConfig.spektrum_sat_bind_autoreset = 1;
rxConfigMutable()->serialrx_provider = SERIALRX_SPEKTRUM2048;
rxConfigMutable()->spektrum_sat_bind = 5;
rxConfigMutable()->spektrum_sat_bind_autoreset = 1;
} else {
config->rxConfig.serialrx_provider = SERIALRX_SBUS;
config->rxConfig.sbus_inversion = 0;
config->serialConfig.portConfigs[findSerialPortIndexByIdentifier(TELEMETRY_UART)].functionMask = FUNCTION_TELEMETRY_FRSKY;
config->telemetryConfig.telemetry_inversion = 0;
intFeatureSet(FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY, &config->featureConfig.enabledFeatures);
rxConfigMutable()->serialrx_provider = SERIALRX_SBUS;
rxConfigMutable()->sbus_inversion = 0;
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(TELEMETRY_UART)].functionMask = FUNCTION_TELEMETRY_FRSKY;
telemetryConfigMutable()->telemetry_inversion = 0;
featureSet(FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY);
}
config->profile[0].pidProfile.P8[ROLL] = 53;
config->profile[0].pidProfile.I8[ROLL] = 45;
config->profile[0].pidProfile.D8[ROLL] = 52;
config->profile[0].pidProfile.P8[PITCH] = 53;
config->profile[0].pidProfile.I8[PITCH] = 45;
config->profile[0].pidProfile.D8[PITCH] = 52;
config->profile[0].pidProfile.P8[YAW] = 64;
config->profile[0].pidProfile.D8[YAW] = 18;
pidProfilesMutable(0)->P8[FD_ROLL] = 53;
pidProfilesMutable(0)->I8[FD_ROLL] = 45;
pidProfilesMutable(0)->D8[FD_ROLL] = 52;
pidProfilesMutable(0)->P8[FD_PITCH] = 53;
pidProfilesMutable(0)->I8[FD_PITCH] = 45;
pidProfilesMutable(0)->D8[FD_PITCH] = 52;
pidProfilesMutable(0)->P8[FD_YAW] = 64;
pidProfilesMutable(0)->D8[FD_YAW] = 18;
config->customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R
config->customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R
config->customMotorMixer[2] = (motorMixer_t){ 1.0f, 0.414178f, 1.0f, 1.0f }; // REAR_L
config->customMotorMixer[3] = (motorMixer_t){ 1.0f, 0.414178f, -1.0f, -1.0f }; // FRONT_L
config->customMotorMixer[4] = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f }; // MIDFRONT_R
config->customMotorMixer[5] = (motorMixer_t){ 1.0f, 1.0f, -0.414178f, 1.0f }; // MIDFRONT_L
config->customMotorMixer[6] = (motorMixer_t){ 1.0f, -1.0f, 0.414178f, 1.0f }; // MIDREAR_R
config->customMotorMixer[7] = (motorMixer_t){ 1.0f, 1.0f, 0.414178f, -1.0f }; // MIDREAR_L
*customMotorMixerMutable(0) = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R
*customMotorMixerMutable(1) = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R
*customMotorMixerMutable(2) = (motorMixer_t){ 1.0f, 0.414178f, 1.0f, 1.0f }; // REAR_L
*customMotorMixerMutable(3) = (motorMixer_t){ 1.0f, 0.414178f, -1.0f, -1.0f }; // FRONT_L
*customMotorMixerMutable(4) = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f }; // MIDFRONT_R
*customMotorMixerMutable(5) = (motorMixer_t){ 1.0f, 1.0f, -0.414178f, 1.0f }; // MIDFRONT_L
*customMotorMixerMutable(6) = (motorMixer_t){ 1.0f, -1.0f, 0.414178f, 1.0f }; // MIDREAR_R
*customMotorMixerMutable(7) = (motorMixer_t){ 1.0f, 1.0f, 0.414178f, -1.0f }; // MIDREAR_L
}
#endif

9
src/main/target/BETAFLIGHTF3/config.c
View file

@ -21,11 +21,12 @@
#include <platform.h>
#ifdef TARGET_CONFIG
#include "config/config_master.h"
#include "config/feature.h"
void targetConfiguration(master_t *config)
#include "fc/config.h"
#include "sensors/battery.h"
void targetConfiguration(void)
{
config->batteryConfig.currentMeterScale = 220;
batteryConfigMutable()->currentMeterScale = 220;
}
#endif

29
src/main/target/BLUEJAYF4/config.c
View file

@ -21,41 +21,46 @@
#include <platform.h>
#ifdef TARGET_CONFIG
#include "blackbox/blackbox_io.h"
#include "config/config_master.h"
#include "blackbox/blackbox.h"
#include "config/feature.h"
#include "drivers/io.h"
#include "fc/config.h"
#include "sensors/acceleration.h"
#include "sensors/gyro.h"
#include "hardware_revision.h"
// alternative defaults settings for BlueJayF4 targets
void targetConfiguration(master_t *config)
void targetConfiguration(void)
{
if (hardwareRevision == BJF4_REV1 || hardwareRevision == BJF4_REV2) {
config->gyroConfig.gyro_align = CW180_DEG;
config->accelerometerConfig.acc_align = CW180_DEG;
config->beeperDevConfig.ioTag = IO_TAG(BEEPER_OPT);
gyroConfigMutable()->gyro_align = CW180_DEG;
accelerometerConfigMutable()->acc_align = CW180_DEG;
beeperDevConfigMutable()->ioTag = IO_TAG(BEEPER_OPT);
}
if (hardwareRevision == BJF4_MINI_REV3A || hardwareRevision == BJF4_REV1) {
intFeatureClear(FEATURE_SDCARD, &config->featureConfig.enabledFeatures);
featureClear(FEATURE_SDCARD);
}
if (hardwareRevision == BJF4_MINI_REV3A) {
config->adcConfig.vbat.ioTag = IO_TAG(PA4);
adcConfigMutable()->vbat.ioTag = IO_TAG(PA4);
}
}
void targetValidateConfiguration(master_t *config)
void targetValidateConfiguration(void)
{
/* make sure the SDCARD cannot be turned on */
if (hardwareRevision == BJF4_MINI_REV3A || hardwareRevision == BJF4_REV1) {
intFeatureClear(FEATURE_SDCARD, &config->featureConfig.enabledFeatures);
featureClear(FEATURE_SDCARD);
if (config->blackboxConfig.device == BLACKBOX_DEVICE_SDCARD) {
config->blackboxConfig.device = BLACKBOX_DEVICE_FLASH;
if (blackboxConfig()->device == BLACKBOX_DEVICE_SDCARD) {
blackboxConfigMutable()->device = BLACKBOX_DEVICE_FLASH;
}
}
}

34
src/main/target/COLIBRI/config.c
View file

@ -21,37 +21,41 @@
#include "platform.h"
#ifdef TARGET_CONFIG
#include "common/axis.h"
#include "drivers/serial.h"
#include "fc/controlrate_profile.h"
#include "fc/rc_controls.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "io/motors.h"
#include "io/serial.h"
#include "rx/rx.h"
#include "config/config_profile.h"
#include "config/config_master.h"
#include "sensors/boardalignment.h"
#include "sensors/compass.h"
// alternative defaults settings for Colibri/Gemini targets
void targetConfiguration(master_t *config)
void targetConfiguration(void)
{
config->mixerConfig.mixerMode = MIXER_HEX6X;
config->rxConfig.serialrx_provider = 2;
mixerConfigMutable()->mixerMode = MIXER_HEX6X;
rxConfigMutable()->serialrx_provider = 2;
config->motorConfig.minthrottle = 1070;
config->motorConfig.maxthrottle = 2000;
motorConfigMutable()->minthrottle = 1070;
motorConfigMutable()->maxthrottle = 2000;
config->boardAlignment.pitchDegrees = 10;
//config->rcControlsConfig.deadband = 10;
//config->rcControlsConfig.yaw_deadband = 10;
config->compassConfig.mag_hardware = 1;
boardAlignmentMutable()->pitchDegrees = 10;
//rcControlsConfigMutable()->deadband = 10;
//rcControlsConfigMutable()->yaw_deadband = 10;
compassConfigMutable()->mag_hardware = 1;
config->controlRateProfile[0].dynThrPID = 45;
config->controlRateProfile[0].tpa_breakpoint = 1700;
config->serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
controlRateProfilesMutable(0)->dynThrPID = 45;
controlRateProfilesMutable(0)->tpa_breakpoint = 1700;
serialConfigMutable()->portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
}
#endif

102
src/main/target/COLIBRI_RACE/config.c
View file

@ -16,22 +16,38 @@
*/
#include <stdint.h>
#include <stdbool.h>
#include <string.h>
#include <platform.h>
#ifdef TARGET_CONFIG
#include "common/maths.h"
#include "common/utils.h"
#include "blackbox/blackbox.h"
#include "common/axis.h"
#include "common/maths.h"
#include "config/config_master.h"
#include "config/feature.h"
#include "io/ledstrip.h"
#include "io/motors.h"
#include "io/serial.h"
#include "fc/config.h"
#include "fc/controlrate_profile.h"
#include "fc/rc_controls.h"
#include "flight/failsafe.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/servos.h"
#include "rx/rx.h"
#include "sensors/battery.h"
#include "sensors/gyro.h"
#include "telemetry/telemetry.h"
void targetApplyDefaultLedStripConfig(ledConfig_t *ledConfigs)
@ -52,61 +68,59 @@ void targetApplyDefaultLedStripConfig(ledConfig_t *ledConfigs)
}
// alternative defaults settings for COLIBRI RACE targets
void targetConfiguration(master_t *config)
void targetConfiguration(void)
{
config->motorConfig.minthrottle = 1025;
config->motorConfig.maxthrottle = 1980;
config->motorConfig.mincommand = 1000;
config->servoConfig.dev.servoCenterPulse = 1500;
motorConfigMutable()->minthrottle = 1025;
motorConfigMutable()->maxthrottle = 1980;
motorConfigMutable()->mincommand = 1000;
servoConfigMutable()->dev.servoCenterPulse = 1500;
config->batteryConfig.vbatmaxcellvoltage = 45;
config->batteryConfig.vbatmincellvoltage = 30;
config->batteryConfig.vbatwarningcellvoltage = 35;
batteryConfigMutable()->vbatmaxcellvoltage = 45;
batteryConfigMutable()->vbatmincellvoltage = 30;
batteryConfigMutable()->vbatwarningcellvoltage = 35;
config->flight3DConfig.deadband3d_low = 1406;
config->flight3DConfig.deadband3d_high = 1514;
config->flight3DConfig.neutral3d = 1460;
config->flight3DConfig.deadband3d_throttle = 0;
flight3DConfigMutable()->deadband3d_low = 1406;
flight3DConfigMutable()->deadband3d_high = 1514;
flight3DConfigMutable()->neutral3d = 1460;
flight3DConfigMutable()->deadband3d_throttle = 0;
config->failsafeConfig.failsafe_procedure = 1;
config->failsafeConfig.failsafe_throttle_low_delay = 10;
failsafeConfigMutable()->failsafe_procedure = 1;
failsafeConfigMutable()->failsafe_throttle_low_delay = 10;
config->gyroConfig.gyro_sync_denom = 1;
config->pidConfig.pid_process_denom = 3;
config->blackboxConfig.rate_num = 1;
config->blackboxConfig.rate_denom = 1;
gyroConfigMutable()->gyro_sync_denom = 1;
pidConfigMutable()->pid_process_denom = 3;
blackboxConfigMutable()->rate_num = 1;
blackboxConfigMutable()->rate_denom = 1;
config->rcControlsConfig.deadband = 5;
config->rcControlsConfig.yaw_deadband = 5;
rcControlsConfigMutable()->deadband = 5;
rcControlsConfigMutable()->yaw_deadband = 5;
config->failsafeConfig.failsafe_delay = 10;
failsafeConfigMutable()->failsafe_delay = 10;
config->telemetryConfig.telemetry_inversion = 1;
telemetryConfigMutable()->telemetry_inversion = 1;
config->profile[0].pidProfile.vbatPidCompensation = 1;
pidProfilesMutable(0)->vbatPidCompensation = 1;
config->profile[0].pidProfile.P8[ROLL] = 46; // new PID with preliminary defaults test carefully
config->profile[0].pidProfile.I8[ROLL] = 48;
config->profile[0].pidProfile.D8[ROLL] = 23;
config->profile[0].pidProfile.P8[PITCH] = 89;
config->profile[0].pidProfile.I8[PITCH] = 59;
config->profile[0].pidProfile.D8[PITCH] = 25;
config->profile[0].pidProfile.P8[YAW] = 129;
config->profile[0].pidProfile.I8[YAW] = 50;
config->profile[0].pidProfile.D8[YAW] = 20;
pidProfilesMutable(0)->P8[ROLL] = 46; // new PID with preliminary defaults test carefully
pidProfilesMutable(0)->I8[ROLL] = 48;
pidProfilesMutable(0)->D8[ROLL] = 23;
pidProfilesMutable(0)->P8[PITCH] = 89;
pidProfilesMutable(0)->I8[PITCH] = 59;
pidProfilesMutable(0)->D8[PITCH] = 25;
pidProfilesMutable(0)->P8[YAW] = 129;
pidProfilesMutable(0)->I8[YAW] = 50;
pidProfilesMutable(0)->D8[YAW] = 20;
config->controlRateProfile[0].rates[FD_ROLL] = 86;
config->controlRateProfile[0].rates[FD_PITCH] = 86;
config->controlRateProfile[0].rates[FD_YAW] = 80;
controlRateProfilesMutable(0)->rates[FD_ROLL] = 86;
controlRateProfilesMutable(0)->rates[FD_PITCH] = 86;
controlRateProfilesMutable(0)->rates[FD_YAW] = 80;
targetApplyDefaultLedStripConfig(config->ledStripConfig.ledConfigs);
targetApplyDefaultLedStripConfig(ledStripConfigMutable()->ledConfigs);
}
void targetValidateConfiguration(master_t *config)
void targetValidateConfiguration()
{
UNUSED(config);
serialConfig()->portConfigs[0].functionMask = FUNCTION_MSP;
serialConfigMutable()->portConfigs[0].functionMask = FUNCTION_MSP;
if (featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_MSP)) {
featureClear(FEATURE_RX_PARALLEL_PWM);
featureClear(FEATURE_RX_MSP);

24
src/main/target/KISSFC/config.c
View file

@ -21,32 +21,18 @@
#include <platform.h>
#ifdef TARGET_CONFIG
#include "common/utils.h"
#include "drivers/io.h"
#include "fc/rc_controls.h"
#include "flight/failsafe.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "rx/rx.h"
#include "config/config_profile.h"
#include "config/config_master.h"
#include "fc/config.h"
#include "sensors/boardalignment.h"
void targetConfiguration(master_t *config)
void targetConfiguration(void)
{
UNUSED(config);
#ifdef KISSCC
// alternative defaults settings for Beebrain target
config->boardAlignment.rollDegrees = 180;
config->boardAlignment.pitchDegrees = 0;
config->boardAlignment.yawDegrees = 0;
boardAlignmentMutable()->rollDegrees = 180;
boardAlignmentMutable()->pitchDegrees = 0;
boardAlignmentMutable()->yawDegrees = 0;
#endif
}
#endif

13
src/main/target/MOTOLAB/config.c
View file

@ -21,12 +21,17 @@
#include <platform.h>
#ifdef TARGET_CONFIG
#include "config/config_master.h"
#include "fc/config.h"
#include "flight/pid.h"
#include "sensors/gyro.h"
// Motolab target supports 2 different type of boards Tornado / Cyclone.
void targetConfiguration(master_t *config)
void targetConfiguration(void)
{
config->gyroConfig.gyro_sync_denom = 4;
config->pidConfig.pid_process_denom = 1;
gyroConfigMutable()->gyro_sync_denom = 4;
pidConfigMutable()->pid_process_denom = 1;
}
#endif

77
src/main/target/MULTIFLITEPICO/config.c
View file

@ -21,12 +21,12 @@
#include <platform.h>
#ifdef TARGET_CONFIG
#include "common/axis.h"
#include "common/maths.h"
#include "drivers/sensor.h"
#include "drivers/compass.h"
#include "fc/config.h"
#include "fc/controlrate_profile.h"
#include "fc/rc_controls.h"
#include "flight/failsafe.h"
@ -35,55 +35,54 @@
#include "rx/rx.h"
#include "sensors/sensors.h"
#include "sensors/battery.h"
#include "sensors/compass.h"
#include "sensors/gyro.h"
#include "config/config_profile.h"
#include "config/config_master.h"
// alternative defaults settings for MULTIFLITEPICO targets
void targetConfiguration(master_t *config)
void targetConfiguration(void)
{
config->compassConfig.mag_hardware = MAG_NONE; // disabled by default
compassConfigMutable()->mag_hardware = MAG_NONE; // disabled by default
config->batteryConfig.vbatscale = 100;
config->batteryConfig.vbatresdivval = 15;
config->batteryConfig.vbatresdivmultiplier = 4;
config->batteryConfig.vbatmaxcellvoltage = 44;
config->batteryConfig.vbatmincellvoltage = 32;
config->batteryConfig.vbatwarningcellvoltage = 33;
batteryConfigMutable()->vbatscale = 100;
batteryConfigMutable()->vbatresdivval = 15;
batteryConfigMutable()->vbatresdivmultiplier = 4;
batteryConfigMutable()->vbatmaxcellvoltage = 44;
batteryConfigMutable()->vbatmincellvoltage = 32;
batteryConfigMutable()->vbatwarningcellvoltage = 33;
config->rxConfig.spektrum_sat_bind = 5;
config->rxConfig.spektrum_sat_bind_autoreset = 1;
rxConfigMutable()->spektrum_sat_bind = 5;
rxConfigMutable()->spektrum_sat_bind_autoreset = 1;
config->rcControlsConfig.yaw_deadband = 2;
config->rcControlsConfig.deadband = 2;
rcControlsConfigMutable()->yaw_deadband = 2;
rcControlsConfigMutable()->deadband = 2;
config->modeActivationProfile.modeActivationConditions[0].modeId = BOXANGLE;
config->modeActivationProfile.modeActivationConditions[0].auxChannelIndex = AUX1 - NON_AUX_CHANNEL_COUNT;
config->modeActivationProfile.modeActivationConditions[0].range.startStep = CHANNEL_VALUE_TO_STEP(900);
config->modeActivationProfile.modeActivationConditions[0].range.endStep = CHANNEL_VALUE_TO_STEP(1400);
config->modeActivationProfile.modeActivationConditions[1].modeId = BOXHORIZON;
config->modeActivationProfile.modeActivationConditions[1].auxChannelIndex = AUX1 - NON_AUX_CHANNEL_COUNT;
config->modeActivationProfile.modeActivationConditions[1].range.startStep = CHANNEL_VALUE_TO_STEP(1425);
config->modeActivationProfile.modeActivationConditions[1].range.endStep = CHANNEL_VALUE_TO_STEP(1575);
modeActivationConditionsMutable(0)->modeId = BOXANGLE;
modeActivationConditionsMutable(0)->auxChannelIndex = AUX1 - NON_AUX_CHANNEL_COUNT;
modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(900);
modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(1400);
modeActivationConditionsMutable(1)->modeId = BOXHORIZON;
modeActivationConditionsMutable(1)->auxChannelIndex = AUX1 - NON_AUX_CHANNEL_COUNT;
modeActivationConditionsMutable(1)->range.startStep = CHANNEL_VALUE_TO_STEP(1425);
modeActivationConditionsMutable(1)->range.endStep = CHANNEL_VALUE_TO_STEP(1575);
config->failsafeConfig.failsafe_delay = 2;
config->failsafeConfig.failsafe_off_delay = 0;
failsafeConfigMutable()->failsafe_delay = 2;
failsafeConfigMutable()->failsafe_off_delay = 0;
config->motorConfig.dev.motorPwmRate = 17000;
motorConfigMutable()->dev.motorPwmRate = 17000;
config->gyroConfig.gyro_sync_denom = 4;
config->pidConfig.pid_process_denom = 1;
gyroConfigMutable()->gyro_sync_denom = 4;
pidConfigMutable()->pid_process_denom = 1;
config->profile[0].pidProfile.P8[ROLL] = 70;
config->profile[0].pidProfile.I8[ROLL] = 62;
config->profile[0].pidProfile.D8[ROLL] = 19;
config->profile[0].pidProfile.P8[PITCH] = 70;
config->profile[0].pidProfile.I8[PITCH] = 62;
config->profile[0].pidProfile.D8[PITCH] = 19;
pidProfilesMutable(0)->P8[ROLL] = 70;
pidProfilesMutable(0)->I8[ROLL] = 62;
pidProfilesMutable(0)->D8[ROLL] = 19;
pidProfilesMutable(0)->P8[PITCH] = 70;
pidProfilesMutable(0)->I8[PITCH] = 62;
pidProfilesMutable(0)->D8[PITCH] = 19;
config->controlRateProfile[0].rcRate8 = 70;
config->profile[0].pidProfile.I8[PIDLEVEL] = 40;
controlRateProfilesMutable(0)->rcRate8 = 70;
pidProfilesMutable(0)->I8[PIDLEVEL] = 40;
}
#endif

97
src/main/target/NAZE/config.c
View file

@ -21,10 +21,11 @@
#include <platform.h>
#ifdef TARGET_CONFIG
#include "common/axis.h"
#include "common/utils.h"
#include "drivers/io.h"
#include "fc/config.h"
#include "fc/rc_controls.h"
#include "fc/controlrate_profile.h"
@ -34,65 +35,54 @@
#include "rx/rx.h"
#include "config/config_profile.h"
#include "config/config_master.h"
#include "sensors/acceleration.h"
#include "sensors/compass.h"
#include "sensors/gyro.h"
#include "hardware_revision.h"
#ifdef USE_PARAMETER_GROUPS
void targetConfiguration(void)
{
}
void targetValidateConfiguration(void)
{
}
#else
void targetConfiguration(master_t *config)
{
UNUSED(config);
#ifdef BEEBRAIN
// alternative defaults settings for Beebrain target
config->motorConfig.dev.motorPwmRate = 4000;
config->failsafeConfig.failsafe_delay = 2;
config->failsafeConfig.failsafe_off_delay = 0;
motorConfigMutable()->dev.motorPwmRate = 4000;
failsafeConfigMutable()->failsafe_delay = 2;
failsafeConfigMutable()->failsafe_off_delay = 0;
config->motorConfig.minthrottle = 1049;
motorConfigMutable()->minthrottle = 1049;
config->gyroConfig.gyro_lpf = GYRO_LPF_188HZ;
config->gyroConfig.gyro_soft_lpf_hz = 100;
config->gyroConfig.gyro_soft_notch_hz_1 = 0;
config->gyroConfig.gyro_soft_notch_hz_2 = 0;
gyroConfigMutable()->gyro_lpf = GYRO_LPF_188HZ;
gyroConfigMutable()->gyro_soft_lpf_hz = 100;
gyroConfigMutable()->gyro_soft_notch_hz_1 = 0;
gyroConfigMutable()->gyro_soft_notch_hz_2 = 0;
/*for (int channel = 0; channel < NON_AUX_CHANNEL_COUNT; channel++) {
config->rxConfig.channelRanges[channel].min = 1180;
config->rxConfig.channelRanges[channel].max = 1860;
rxConfigMutable()->channelRanges[channel].min = 1180;
rxConfigMutable()->channelRanges[channel].max = 1860;
}*/
for (int profileId = 0; profileId < 2; profileId++) {
config->profile[profileId].pidProfile.P8[ROLL] = 60;
config->profile[profileId].pidProfile.I8[ROLL] = 70;
config->profile[profileId].pidProfile.D8[ROLL] = 17;
config->profile[profileId].pidProfile.P8[PITCH] = 80;
config->profile[profileId].pidProfile.I8[PITCH] = 90;
config->profile[profileId].pidProfile.D8[PITCH] = 18;
config->profile[profileId].pidProfile.P8[YAW] = 200;
config->profile[profileId].pidProfile.I8[YAW] = 45;
config->profile[profileId].pidProfile.P8[PIDLEVEL] = 30;
config->profile[profileId].pidProfile.D8[PIDLEVEL] = 30;
pidProfilesMutable(0)->P8[ROLL] = 60;
pidProfilesMutable(0)->I8[ROLL] = 70;
pidProfilesMutable(0)->D8[ROLL] = 17;
pidProfilesMutable(0)->P8[PITCH] = 80;
pidProfilesMutable(0)->I8[PITCH] = 90;
pidProfilesMutable(0)->D8[PITCH] = 18;
pidProfilesMutable(0)->P8[YAW] = 200;
pidProfilesMutable(0)->I8[YAW] = 45;
pidProfilesMutable(0)->P8[PIDLEVEL] = 30;
pidProfilesMutable(0)->D8[PIDLEVEL] = 30;
for (int rateProfileId = 0; rateProfileId < CONTROL_RATE_PROFILE_COUNT; rateProfileId++) {
config->controlRateProfile[rateProfileId].rcRate8 = 100;
config->controlRateProfile[rateProfileId].rcYawRate8 = 110;
config->controlRateProfile[rateProfileId].rcExpo8 = 0;
config->controlRateProfile[rateProfileId].rates[ROLL] = 77;
config->controlRateProfile[rateProfileId].rates[PITCH] = 77;
config->controlRateProfile[rateProfileId].rates[YAW] = 80;
controlRateProfilesMutable(rateProfileId)->rcRate8 = 100;
controlRateProfilesMutable(rateProfileId)->rcYawRate8 = 110;
controlRateProfilesMutable(rateProfileId)->rcExpo8 = 0;
controlRateProfilesMutable(rateProfileId)->rates[FD_ROLL] = 77;
controlRateProfilesMutable(rateProfileId)->rates[FD_PITCH] = 77;
controlRateProfilesMutable(rateProfileId)->rates[FD_YAW] = 80;
config->profile[profileId].pidProfile.dtermSetpointWeight = 200;
config->profile[profileId].pidProfile.setpointRelaxRatio = 50;
pidProfilesMutable(0)->dtermSetpointWeight = 200;
pidProfilesMutable(0)->setpointRelaxRatio = 50;
}
}
#endif
@ -100,27 +90,26 @@ void targetConfiguration(master_t *config)
#if !defined(AFROMINI) && !defined(BEEBRAIN)
if (hardwareRevision >= NAZE32_REV5) {
// naze rev4 and below used opendrain to PNP for buzzer. Rev5 and above use PP to NPN.
config->beeperDevConfig.isOpenDrain = false;
config->beeperDevConfig.isInverted = true;
beeperDevConfigMutable()->isOpenDrain = false;
beeperDevConfigMutable()->isInverted = true;
} else {
config->beeperDevConfig.isOpenDrain = true;
config->beeperDevConfig.isInverted = false;
config->flashConfig.csTag = IO_TAG_NONE;
beeperDevConfigMutable()->isOpenDrain = true;
beeperDevConfigMutable()->isInverted = false;
flashConfigMutable()->csTag = IO_TAG_NONE;
}
#endif
#ifdef MAG_INT_EXTI
if (hardwareRevision < NAZE32_REV5) {
config->compassConfig.interruptTag = IO_TAG(PB12);
compassConfigMutable()->interruptTag = IO_TAG(PB12);
}
#endif
}
void targetValidateConfiguration(master_t *config)
void targetValidateConfiguration(void)
{
if (hardwareRevision < NAZE32_REV5 && config->accelerometerConfig.acc_hardware == ACC_ADXL345) {
config->accelerometerConfig.acc_hardware = ACC_NONE;
if (hardwareRevision < NAZE32_REV5 && accelerometerConfig()->acc_hardware == ACC_ADXL345) {
accelerometerConfigMutable()->acc_hardware = ACC_NONE;
}
}
#endif
#endif // USE_PARAMETER_GROUPS

10
src/main/target/PIKOBLX/config.c
View file

@ -20,9 +20,13 @@
#include <platform.h>
#ifdef TARGET_CONFIG
#include "config/config_master.h"
void targetConfiguration(master_t *config) {
config->batteryConfig.currentMeterScale = 125;
#include "fc/config.h"
#include "sensors/battery.h"
void targetConfiguration(void)
{
batteryConfigMutable()->currentMeterScale = 125;
}
#endif

12
src/main/target/RACEBASE/config.c
View file

@ -21,15 +21,17 @@
#include <platform.h>
#ifdef TARGET_CONFIG
#include "fc/config.h"
#include "rx/rx.h"
#include "config/config_master.h"
// alternative defaults settings for COLIBRI RACE targets
void targetConfiguration(master_t *config)
void targetConfiguration(void)
{
config->rxConfig.sbus_inversion = 0;
config->rxConfig.rssi_scale = 19;
config->rxConfig.serialrx_provider = SERIALRX_SBUS;
rxConfigMutable()->sbus_inversion = 0;
rxConfigMutable()->rssi_scale = 19;
rxConfigMutable()->serialrx_provider = SERIALRX_SBUS;
}
#endif

12
src/main/target/RG_SSD_F3/config.c
View file

@ -20,10 +20,14 @@
#include <platform.h>
#ifdef TARGET_CONFIG
#include "config/config_master.h"
void targetConfiguration(master_t *config) {
config->batteryConfig.vbatmaxcellvoltage = 45;
config->batteryConfig.vbatscale = VBAT_SCALE_DEFAULT;
#include "fc/config.h"
#include "sensors/battery.h"
void targetConfiguration(void)
{
batteryConfigMutable()->vbatmaxcellvoltage = 45;
batteryConfigMutable()->vbatscale = VBAT_SCALE_DEFAULT;
}
#endif

4
src/main/target/SINGULARITY/target.mk
View file

@ -4,6 +4,4 @@ FEATURES = VCP ONBOARDFLASH
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/vtx_rtc6705.c \
io/vtx.c
drivers/vtx_rtc6705.c

7
src/main/target/SPRACINGF3EVO/config.c
View file

@ -18,11 +18,12 @@
#include <platform.h>
#ifdef TARGET_CONFIG
#include "config/config_master.h"
void targetConfiguration(master_t *config)
#include "fc/config.h"
void targetConfiguration(void)
{
// Temporary workaround: Disable SDCard DMA by default since it causes errors on this target
config->sdcardConfig.useDma = false;
sdcardConfigMutable()->useDma = false;
}
#endif

33
src/main/target/TINYFISH/config.c
View file

@ -20,39 +20,42 @@
#include <platform.h>
#ifdef TARGET_CONFIG
#include "drivers/io.h"
#include "drivers/timer.h"
#include "drivers/dma.h"
#include "drivers/io.h"
#include "drivers/timer.h"
#include "config/config_profile.h"
#include "config/config_master.h"
#include "config/feature.h"
#include "fc/config.h"
#include "io/serial.h"
#include "target.h"
#include "rx/rx.h"
#include "sensors/battery.h"
#include "telemetry/telemetry.h"
#define TARGET_CPU_VOLTAGE 3.0
// set default settings to match our target
void targetConfiguration(master_t *config)
void targetConfiguration(void)
{
config->batteryConfig.currentMeterOffset = 0;
batteryConfigMutable()->currentMeterOffset = 0;
// we use an ina139, RL=0.005, Rs=30000
// V/A = (0.005 * 0.001 * 30000) * I
// rescale to 1/10th mV / A -> * 1000 * 10
// we use 3.0V as cpu and adc voltage -> rescale by 3.0/3.3
config->batteryConfig.currentMeterScale = (0.005 * 0.001 * 30000) * 1000 * 10 * (TARGET_CPU_VOLTAGE / 3.3);
batteryConfigMutable()->currentMeterScale = (0.005 * 0.001 * 30000) * 1000 * 10 * (TARGET_CPU_VOLTAGE / 3.3);
// we use the same uart for frsky telemetry and SBUS, both non inverted
int index = findSerialPortIndexByIdentifier(SBUS_TELEMETRY_UART);
config->serialConfig.portConfigs[index].functionMask = FUNCTION_TELEMETRY_FRSKY | FUNCTION_RX_SERIAL;
const int index = findSerialPortIndexByIdentifier(SBUS_TELEMETRY_UART);
serialConfigMutable()->portConfigs[index].functionMask = FUNCTION_TELEMETRY_FRSKY | FUNCTION_RX_SERIAL;
config->rxConfig.serialrx_provider = SERIALRX_SBUS;
config->telemetryConfig.telemetry_inversion = 0;
config->rxConfig.sbus_inversion = 0;
rxConfigMutable()->serialrx_provider = SERIALRX_SBUS;
rxConfigMutable()->sbus_inversion = 0;
telemetryConfigMutable()->telemetry_inversion = 0;
intFeatureSet(FEATURE_CURRENT_METER | FEATURE_VBAT, &config->featureConfig.enabledFeatures);
featureSet(FEATURE_CURRENT_METER | FEATURE_VBAT);
}
#endif

2
src/main/target/common.h
View file

@ -17,7 +17,7 @@
#pragma once
//#define USE_PARAMETER_GROUPS
#define USE_PARAMETER_GROUPS
// type conversion warnings.
// -Wconversion can be turned on to enable the process of eliminating these warnings
//#pragma GCC diagnostic warning "-Wconversion"

3
src/main/telemetry/ibus.c
View file

@ -46,10 +46,11 @@
#include "io/serial.h"
#include "sensors/sensors.h"
#include "sensors/acceleration.h"
#include "sensors/battery.h"
#include "sensors/barometer.h"
#include "sensors/gyro.h"
#include "sensors/sensors.h"
#include "scheduler/scheduler.h"