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Code Issues Wiki Activity

Split config_storage.h into config_master.h and config_profile.h to

Browse source 
separate concerns and help reduce and clarify dependencies.

cfg and mcfg are too similarly named and are not obvious.  Renamed cfg
to currentProfile and mcfg to masterConfig.  This will increase source
code line length somewhat but that's ok; lines of code doing too much
are now easier to spot.
This commit is contained in:
Dominic Clifton 2014-04-21 23:08:25 +01:00
parent dab04de35e
commit f8d0dd98f7
18 changed files with 677 additions and 672 deletions
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45
src/main.c
View file

@ -13,7 +13,6 @@
#include "telemetry_common.h"
#include "boardalignment.h"
#include "config.h"
#include "config_storage.h"
#include "build_config.h"
@ -37,29 +36,29 @@ int main(void)
serialPort_t* loopbackPort1 = NULL;
serialPort_t* loopbackPort2 = NULL;
#endif
systemInit(mcfg.emfAvoidance);
systemInit(masterConfig.emfAvoidance);
initPrintfSupport();
ensureEEPROMContainsValidData();
readEEPROM();
// configure power ADC
if (mcfg.power_adc_channel > 0 && (mcfg.power_adc_channel == 1 || mcfg.power_adc_channel == 9))
adc_params.powerAdcChannel = mcfg.power_adc_channel;
if (masterConfig.power_adc_channel > 0 && (masterConfig.power_adc_channel == 1 || masterConfig.power_adc_channel == 9))
adc_params.powerAdcChannel = masterConfig.power_adc_channel;
else {
adc_params.powerAdcChannel = 0;
mcfg.power_adc_channel = 0;
masterConfig.power_adc_channel = 0;
}
adcInit(&adc_params);
initBoardAlignment(&mcfg.boardAlignment);
initBoardAlignment(&masterConfig.boardAlignment);
// We have these sensors; SENSORS_SET defined in board.h depending on hardware platform
sensorsSet(SENSORS_SET);
mixerInit();
// when using airplane/wing mixer, servo/motor outputs are remapped
if (mcfg.mixerConfiguration == MULTITYPE_AIRPLANE || mcfg.mixerConfiguration == MULTITYPE_FLYING_WING)
if (masterConfig.mixerConfiguration == MULTITYPE_AIRPLANE || masterConfig.mixerConfiguration == MULTITYPE_FLYING_WING)
pwm_params.airplane = true;
else
pwm_params.airplane = false;
@ -68,18 +67,18 @@ int main(void)
pwm_params.usePPM = feature(FEATURE_PPM);
pwm_params.enableInput = !feature(FEATURE_SERIALRX); // disable inputs if using spektrum
pwm_params.useServos = isMixerUsingServos();
pwm_params.extraServos = cfg.gimbal_flags & GIMBAL_FORWARDAUX;
pwm_params.motorPwmRate = mcfg.motor_pwm_rate;
pwm_params.servoPwmRate = mcfg.servo_pwm_rate;
pwm_params.extraServos = currentProfile.gimbal_flags & GIMBAL_FORWARDAUX;
pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
pwm_params.servoPwmRate = masterConfig.servo_pwm_rate;
pwm_params.idlePulse = PULSE_1MS; // standard PWM for brushless ESC (default, overridden below)
if (feature(FEATURE_3D))
pwm_params.idlePulse = mcfg.neutral3d;
pwm_params.idlePulse = masterConfig.neutral3d;
if (pwm_params.motorPwmRate > 500)
pwm_params.idlePulse = 0; // brushed motors
pwm_params.servoCenterPulse = mcfg.rxConfig.midrc;
pwm_params.failsafeThreshold = cfg.failsafeConfig.failsafe_detect_threshold;
pwm_params.servoCenterPulse = masterConfig.rxConfig.midrc;
pwm_params.failsafeThreshold = currentProfile.failsafeConfig.failsafe_detect_threshold;
switch (mcfg.power_adc_channel) {
switch (masterConfig.power_adc_channel) {
case 1:
pwm_params.adcChannel = PWM2;
break;
@ -91,14 +90,14 @@ int main(void)
break;
}
failsafe = failsafeInit(&mcfg.rxConfig);
failsafe = failsafeInit(&masterConfig.rxConfig);
buzzerInit(failsafe);
pwmInit(&pwm_params, failsafe);
rxInit(&mcfg.rxConfig, failsafe);
rxInit(&masterConfig.rxConfig, failsafe);
if (feature(FEATURE_GPS) && !feature(FEATURE_SERIALRX)) {
gpsInit(mcfg.gps_baudrate);
gpsInit(masterConfig.gps_baudrate);
}
#ifdef SONAR
@ -128,16 +127,16 @@ int main(void)
// Check battery type/voltage
if (feature(FEATURE_VBAT))
batteryInit(&mcfg.batteryConfig);
batteryInit(&masterConfig.batteryConfig);
serialInit(&mcfg.serialConfig);
serialInit(&masterConfig.serialConfig);
#ifndef FY90Q
if (feature(FEATURE_SOFTSERIAL)) {
//mcfg.softserial_baudrate = 19200; // Uncomment to override config value
setupSoftSerialPrimary(mcfg.serialConfig.softserial_baudrate, mcfg.serialConfig.softserial_1_inverted);
setupSoftSerialSecondary(mcfg.serialConfig.softserial_2_inverted);
setupSoftSerialPrimary(masterConfig.serialConfig.softserial_baudrate, masterConfig.serialConfig.softserial_1_inverted);
setupSoftSerialSecondary(masterConfig.serialConfig.softserial_2_inverted);
#ifdef SOFTSERIAL_LOOPBACK
loopbackPort1 = (serialPort_t*)&(softSerialPorts[0]);
@ -154,7 +153,7 @@ int main(void)
initTelemetry(&serialPorts);
previousTime = micros();
if (mcfg.mixerConfiguration == MULTITYPE_GIMBAL)
if (masterConfig.mixerConfiguration == MULTITYPE_GIMBAL)
calibratingA = CALIBRATING_ACC_CYCLES;
calibratingG = CALIBRATING_GYRO_CYCLES;
calibratingB = CALIBRATING_BARO_CYCLES; // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles
@ -192,6 +191,6 @@ int main(void)
void HardFault_Handler(void)
{
// fall out of the sky
writeAllMotors(mcfg.mincommand);
writeAllMotors(masterConfig.mincommand);
while (1);
}