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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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134
src/mw.c
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@ -79,22 +79,22 @@ void annexCode(void)
static uint8_t vbatTimer = 0;
// PITCH & ROLL only dynamic PID adjustemnt, depending on throttle value
if (rcData[THROTTLE] < cfg.tpaBreakPoint) {
if (rcData[THROTTLE] < currentProfile.tpaBreakPoint) {
prop2 = 100;
} else {
if (rcData[THROTTLE] < 2000) {
prop2 = 100 - (uint16_t)cfg.dynThrPID * (rcData[THROTTLE] - cfg.tpaBreakPoint) / (2000 - cfg.tpaBreakPoint);
prop2 = 100 - (uint16_t)currentProfile.dynThrPID * (rcData[THROTTLE] - currentProfile.tpaBreakPoint) / (2000 - currentProfile.tpaBreakPoint);
} else {
prop2 = 100 - cfg.dynThrPID;
prop2 = 100 - currentProfile.dynThrPID;
}
}
for (axis = 0; axis < 3; axis++) {
tmp = min(abs(rcData[axis] - mcfg.rxConfig.midrc), 500);
tmp = min(abs(rcData[axis] - masterConfig.rxConfig.midrc), 500);
if (axis != 2) { // ROLL & PITCH
if (cfg.deadband) {
if (tmp > cfg.deadband) {
tmp -= cfg.deadband;
if (currentProfile.deadband) {
if (tmp > currentProfile.deadband) {
tmp -= currentProfile.deadband;
} else {
tmp = 0;
}
@ -102,28 +102,28 @@ void annexCode(void)
tmp2 = tmp / 100;
rcCommand[axis] = lookupPitchRollRC[tmp2] + (tmp - tmp2 * 100) * (lookupPitchRollRC[tmp2 + 1] - lookupPitchRollRC[tmp2]) / 100;
prop1 = 100 - (uint16_t)cfg.controlRateConfig.rollPitchRate * tmp / 500;
prop1 = 100 - (uint16_t)currentProfile.controlRateConfig.rollPitchRate * tmp / 500;
prop1 = (uint16_t)prop1 * prop2 / 100;
} else { // YAW
if (cfg.yawdeadband) {
if (tmp > cfg.yawdeadband) {
tmp -= cfg.yawdeadband;
if (currentProfile.yawdeadband) {
if (tmp > currentProfile.yawdeadband) {
tmp -= currentProfile.yawdeadband;
} else {
tmp = 0;
}
}
rcCommand[axis] = tmp * -mcfg.yaw_control_direction;
prop1 = 100 - (uint16_t)cfg.controlRateConfig.yawRate * abs(tmp) / 500;
rcCommand[axis] = tmp * -masterConfig.yaw_control_direction;
prop1 = 100 - (uint16_t)currentProfile.controlRateConfig.yawRate * abs(tmp) / 500;
}
dynP8[axis] = (uint16_t)cfg.P8[axis] * prop1 / 100;
dynI8[axis] = (uint16_t)cfg.I8[axis] * prop1 / 100;
dynD8[axis] = (uint16_t)cfg.D8[axis] * prop1 / 100;
if (rcData[axis] < mcfg.rxConfig.midrc)
dynP8[axis] = (uint16_t)currentProfile.P8[axis] * prop1 / 100;
dynI8[axis] = (uint16_t)currentProfile.I8[axis] * prop1 / 100;
dynD8[axis] = (uint16_t)currentProfile.D8[axis] * prop1 / 100;
if (rcData[axis] < masterConfig.rxConfig.midrc)
rcCommand[axis] = -rcCommand[axis];
}
tmp = constrain(rcData[THROTTLE], mcfg.rxConfig.mincheck, PWM_RANGE_MAX);
tmp = (uint32_t)(tmp - mcfg.rxConfig.mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - mcfg.rxConfig.mincheck); // [MINCHECK;2000] -> [0;1000]
tmp = constrain(rcData[THROTTLE], masterConfig.rxConfig.mincheck, PWM_RANGE_MAX);
tmp = (uint32_t)(tmp - masterConfig.rxConfig.mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - masterConfig.rxConfig.mincheck); // [MINCHECK;2000] -> [0;1000]
tmp2 = tmp / 100;
rcCommand[THROTTLE] = lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100; // [0;1000] -> expo -> [MINTHROTTLE;MAXTHROTTLE]
@ -237,15 +237,15 @@ static void pidMultiWii(void)
for (axis = 0; axis < 3; axis++) {
if ((f.ANGLE_MODE || f.HORIZON_MODE) && axis < 2) { // MODE relying on ACC
// 50 degrees max inclination
errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int)mcfg.max_angle_inclination), +mcfg.max_angle_inclination) - angle[axis] + cfg.angleTrim[axis];
PTermACC = errorAngle * cfg.P8[PIDLEVEL] / 100; // 32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768 16 bits is ok for result
PTermACC = constrain(PTermACC, -cfg.D8[PIDLEVEL] * 5, +cfg.D8[PIDLEVEL] * 5);
errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int)masterConfig.max_angle_inclination), +masterConfig.max_angle_inclination) - angle[axis] + currentProfile.angleTrim[axis];
PTermACC = errorAngle * currentProfile.P8[PIDLEVEL] / 100; // 32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768 16 bits is ok for result
PTermACC = constrain(PTermACC, -currentProfile.D8[PIDLEVEL] * 5, +currentProfile.D8[PIDLEVEL] * 5);
errorAngleI[axis] = constrain(errorAngleI[axis] + errorAngle, -10000, +10000); // WindUp
ITermACC = (errorAngleI[axis] * cfg.I8[PIDLEVEL]) >> 12;
ITermACC = (errorAngleI[axis] * currentProfile.I8[PIDLEVEL]) >> 12;
}
if (!f.ANGLE_MODE || f.HORIZON_MODE || axis == 2) { // MODE relying on GYRO or YAW axis
error = (int32_t)rcCommand[axis] * 10 * 8 / cfg.P8[axis];
error = (int32_t)rcCommand[axis] * 10 * 8 / currentProfile.P8[axis];
error -= gyroData[axis];
PTermGYRO = rcCommand[axis];
@ -253,7 +253,7 @@ static void pidMultiWii(void)
errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp
if (abs(gyroData[axis]) > 640)
errorGyroI[axis] = 0;
ITermGYRO = (errorGyroI[axis] / 125 * cfg.I8[axis]) >> 6;
ITermGYRO = (errorGyroI[axis] / 125 * currentProfile.I8[axis]) >> 6;
}
if (f.HORIZON_MODE && axis < 2) {
PTerm = (PTermACC * (500 - prop) + PTermGYRO * prop) / 500;
@ -296,19 +296,19 @@ static void pidRewrite(void)
// -----Get the desired angle rate depending on flight mode
if ((f.ANGLE_MODE || f.HORIZON_MODE) && axis < 2) { // MODE relying on ACC
// calculate error and limit the angle to max configured inclination
errorAngle = constrain((rcCommand[axis] << 1) + GPS_angle[axis], -((int)mcfg.max_angle_inclination), +mcfg.max_angle_inclination) - angle[axis] + cfg.angleTrim[axis]; // 16 bits is ok here
errorAngle = constrain((rcCommand[axis] << 1) + GPS_angle[axis], -((int)masterConfig.max_angle_inclination), +masterConfig.max_angle_inclination) - angle[axis] + currentProfile.angleTrim[axis]; // 16 bits is ok here
}
if (axis == 2) { // YAW is always gyro-controlled (MAG correction is applied to rcCommand)
AngleRateTmp = (((int32_t)(cfg.controlRateConfig.yawRate + 27) * rcCommand[2]) >> 5);
AngleRateTmp = (((int32_t)(currentProfile.controlRateConfig.yawRate + 27) * rcCommand[2]) >> 5);
} else {
if (!f.ANGLE_MODE) { //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
AngleRateTmp = ((int32_t) (cfg.controlRateConfig.rollPitchRate + 27) * rcCommand[axis]) >> 4;
AngleRateTmp = ((int32_t) (currentProfile.controlRateConfig.rollPitchRate + 27) * rcCommand[axis]) >> 4;
if (f.HORIZON_MODE) {
// mix up angle error to desired AngleRateTmp to add a little auto-level feel
AngleRateTmp += (errorAngle * cfg.I8[PIDLEVEL]) >> 8;
AngleRateTmp += (errorAngle * currentProfile.I8[PIDLEVEL]) >> 8;
}
} else { // it's the ANGLE mode - control is angle based, so control loop is needed
AngleRateTmp = (errorAngle * cfg.P8[PIDLEVEL]) >> 4;
AngleRateTmp = (errorAngle * currentProfile.P8[PIDLEVEL]) >> 4;
}
}
@ -319,13 +319,13 @@ static void pidRewrite(void)
RateError = AngleRateTmp - gyroData[axis];
// -----calculate P component
PTerm = (RateError * cfg.P8[axis]) >> 7;
PTerm = (RateError * currentProfile.P8[axis]) >> 7;
// -----calculate I component
// there should be no division before accumulating the error to integrator, because the precision would be reduced.
// Precision is critical, as I prevents from long-time drift. Thus, 32 bits integrator is used.
// Time correction (to avoid different I scaling for different builds based on average cycle time)
// is normalized to cycle time = 2048.
errorGyroI[axis] = errorGyroI[axis] + ((RateError * cycleTime) >> 11) * cfg.I8[axis];
errorGyroI[axis] = errorGyroI[axis] + ((RateError * cycleTime) >> 11) * currentProfile.I8[axis];
// limit maximum integrator value to prevent WindUp - accumulating extreme values when system is saturated.
// I coefficient (I8) moved before integration to make limiting independent from PID settings
@ -343,7 +343,7 @@ static void pidRewrite(void)
deltaSum = delta1[axis] + delta2[axis] + delta;
delta2[axis] = delta1[axis];
delta1[axis] = delta;
DTerm = (deltaSum * cfg.D8[axis]) >> 8;
DTerm = (deltaSum * currentProfile.D8[axis]) >> 8;
// -----calculate total PID output
axisPID[axis] = PTerm + ITerm + DTerm;
@ -381,7 +381,7 @@ void loop(void)
// calculate rc stuff from serial-based receivers (spek/sbus)
if (feature(FEATURE_SERIALRX)) {
switch (mcfg.rxConfig.serialrx_type) {
switch (masterConfig.rxConfig.serialrx_type) {
case SERIALRX_SPEKTRUM1024:
case SERIALRX_SPEKTRUM2048:
rcReady = spektrumFrameComplete();
@ -398,7 +398,7 @@ void loop(void)
if (((int32_t)(currentTime - rcTime) >= 0) || rcReady) { // 50Hz or data driven
rcReady = false;
rcTime = currentTime + 20000;
computeRC(&mcfg.rxConfig, &rxRuntimeConfig);
computeRC(&masterConfig.rxConfig, &rxRuntimeConfig);
// in 3D mode, we need to be able to disarm by switch at any time
if (feature(FEATURE_3D)) {
@ -408,8 +408,8 @@ void loop(void)
// Read value of AUX channel as rssi
// 0 is disable, 1-4 is AUX{1..4}
if (mcfg.rssi_aux_channel > 0) {
const int16_t rssiChannelData = rcData[AUX1 + mcfg.rssi_aux_channel - 1];
if (masterConfig.rssi_aux_channel > 0) {
const int16_t rssiChannelData = rcData[AUX1 + masterConfig.rssi_aux_channel - 1];
// Range of rssiChannelData is [1000;2000]. rssi should be in [0;1023];
rssi = (uint16_t)((constrain(rssiChannelData - 1000, 0, 1000) / 1000.0f) * 1023.0f);
}
@ -422,9 +422,9 @@ void loop(void)
// checking sticks positions
for (i = 0; i < 4; i++) {
stTmp >>= 2;
if (rcData[i] > mcfg.rxConfig.mincheck)
if (rcData[i] > masterConfig.rxConfig.mincheck)
stTmp |= 0x80; // check for MIN
if (rcData[i] < mcfg.rxConfig.maxcheck)
if (rcData[i] < masterConfig.rxConfig.maxcheck)
stTmp |= 0x40; // check for MAX
}
if (stTmp == rcSticks) {
@ -435,9 +435,9 @@ void loop(void)
rcSticks = stTmp;
// perform actions
if (feature(FEATURE_3D) && (rcData[THROTTLE] > (mcfg.rxConfig.midrc - mcfg.deadband3d_throttle) && rcData[THROTTLE] < (mcfg.rxConfig.midrc + mcfg.deadband3d_throttle)))
if (feature(FEATURE_3D) && (rcData[THROTTLE] > (masterConfig.rxConfig.midrc - masterConfig.deadband3d_throttle) && rcData[THROTTLE] < (masterConfig.rxConfig.midrc + masterConfig.deadband3d_throttle)))
isThrottleLow = true;
else if (!feature(FEATURE_3D) && (rcData[THROTTLE] < mcfg.rxConfig.mincheck))
else if (!feature(FEATURE_3D) && (rcData[THROTTLE] < masterConfig.rxConfig.mincheck))
isThrottleLow = true;
if (isThrottleLow) {
errorGyroI[ROLL] = 0;
@ -445,7 +445,7 @@ void loop(void)
errorGyroI[YAW] = 0;
errorAngleI[ROLL] = 0;
errorAngleI[PITCH] = 0;
if (cfg.activate[BOXARM] > 0) { // Arming/Disarming via ARM BOX
if (currentProfile.activate[BOXARM] > 0) { // Arming/Disarming via ARM BOX
if (rcOptions[BOXARM] && f.OK_TO_ARM)
mwArm();
else if (f.ARMED)
@ -456,10 +456,10 @@ void loop(void)
if (rcDelayCommand == 20) {
if (f.ARMED) { // actions during armed
// Disarm on throttle down + yaw
if (cfg.activate[BOXARM] == 0 && (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_CE))
if (currentProfile.activate[BOXARM] == 0 && (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_CE))
mwDisarm();
// Disarm on roll (only when retarded_arm is enabled)
if (mcfg.retarded_arm && cfg.activate[BOXARM] == 0 && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_LO))
if (masterConfig.retarded_arm && currentProfile.activate[BOXARM] == 0 && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_LO))
mwDisarm();
} else { // actions during not armed
i = 0;
@ -495,7 +495,7 @@ void loop(void)
else if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_HI) // ROLL right -> Profile 3
i = 3;
if (i) {
mcfg.current_profile = i - 1;
masterConfig.current_profile = i - 1;
writeEEPROM();
readEEPROM();
blinkLedAndSoundBeeper(2, 40, i);
@ -503,10 +503,10 @@ void loop(void)
}
// Arm via YAW
if (cfg.activate[BOXARM] == 0 && (rcSticks == THR_LO + YAW_HI + PIT_CE + ROL_CE))
if (currentProfile.activate[BOXARM] == 0 && (rcSticks == THR_LO + YAW_HI + PIT_CE + ROL_CE))
mwArm();
// Arm via ROLL
else if (mcfg.retarded_arm && cfg.activate[BOXARM] == 0 && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_HI))
else if (masterConfig.retarded_arm && currentProfile.activate[BOXARM] == 0 && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_HI))
mwArm();
// Calibrating Acc
else if (rcSticks == THR_HI + YAW_LO + PIT_LO + ROL_CE)
@ -517,20 +517,20 @@ void loop(void)
i = 0;
// Acc Trim
if (rcSticks == THR_HI + YAW_CE + PIT_HI + ROL_CE) {
cfg.angleTrim[PITCH] += 2;
currentProfile.angleTrim[PITCH] += 2;
i = 1;
} else if (rcSticks == THR_HI + YAW_CE + PIT_LO + ROL_CE) {
cfg.angleTrim[PITCH] -= 2;
currentProfile.angleTrim[PITCH] -= 2;
i = 1;
} else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_HI) {
cfg.angleTrim[ROLL] += 2;
currentProfile.angleTrim[ROLL] += 2;
i = 1;
} else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_LO) {
cfg.angleTrim[ROLL] -= 2;
currentProfile.angleTrim[ROLL] -= 2;
i = 1;
}
if (i) {
copyCurrentProfileToProfileSlot(mcfg.current_profile);
copyCurrentProfileToProfileSlot(masterConfig.current_profile);
writeEEPROM();
readEEPROMAndNotify();
rcDelayCommand = 0; // allow autorepetition
@ -539,7 +539,7 @@ void loop(void)
}
if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
if (AccInflightCalibrationArmed && f.ARMED && rcData[THROTTLE] > mcfg.rxConfig.mincheck && !rcOptions[BOXARM]) { // Copter is airborne and you are turning it off via boxarm : start measurement
if (AccInflightCalibrationArmed && f.ARMED && rcData[THROTTLE] > masterConfig.rxConfig.mincheck && !rcOptions[BOXARM]) { // Copter is airborne and you are turning it off via boxarm : start measurement
InflightcalibratingA = 50;
AccInflightCalibrationArmed = false;
}
@ -557,7 +557,7 @@ void loop(void)
for (i = 0; i < 4; i++)
auxState |= (rcData[AUX1 + i] < 1300) << (3 * i) | (1300 < rcData[AUX1 + i] && rcData[AUX1 + i] < 1700) << (3 * i + 1) | (rcData[AUX1 + i] > 1700) << (3 * i + 2);
for (i = 0; i < CHECKBOX_ITEM_COUNT; i++)
rcOptions[i] = (auxState & cfg.activate[i]) > 0;
rcOptions[i] = (auxState & currentProfile.activate[i]) > 0;
if ((rcOptions[BOXANGLE] || (feature(FEATURE_FAILSAFE) && failsafe->vTable->hasTimerElapsed())) && (sensors(SENSOR_ACC))) {
// bumpless transfer to Level mode
@ -652,7 +652,7 @@ void loop(void)
}
} else {
f.GPS_HOME_MODE = 0;
if (rcOptions[BOXGPSHOLD] && abs(rcCommand[ROLL]) < cfg.ap_mode && abs(rcCommand[PITCH]) < cfg.ap_mode) {
if (rcOptions[BOXGPSHOLD] && abs(rcCommand[ROLL]) < currentProfile.ap_mode && abs(rcCommand[PITCH]) < currentProfile.ap_mode) {
if (!f.GPS_HOLD_MODE) {
f.GPS_HOLD_MODE = 1;
GPSNavReset = 0;
@ -683,7 +683,7 @@ void loop(void)
f.PASSTHRU_MODE = 0;
}
if (mcfg.mixerConfiguration == MULTITYPE_FLYING_WING || mcfg.mixerConfiguration == MULTITYPE_AIRPLANE) {
if (masterConfig.mixerConfiguration == MULTITYPE_FLYING_WING || masterConfig.mixerConfiguration == MULTITYPE_AIRPLANE) {
f.HEADFREE_MODE = 0;
}
} else { // not in rc loop
@ -730,8 +730,8 @@ void loop(void)
}
currentTime = micros();
if (mcfg.looptime == 0 || (int32_t)(currentTime - loopTime) >= 0) {
loopTime = currentTime + mcfg.looptime;
if (masterConfig.looptime == 0 || (int32_t)(currentTime - loopTime) >= 0) {
loopTime = currentTime + masterConfig.looptime;
computeIMU();
annexCode();
@ -748,9 +748,9 @@ void loop(void)
dif += 360;
if (dif >= +180)
dif -= 360;
dif *= -mcfg.yaw_control_direction;
dif *= -masterConfig.yaw_control_direction;
if (f.SMALL_ANGLE)
rcCommand[YAW] -= dif * cfg.P8[PIDMAG] / 30; // 18 deg
rcCommand[YAW] -= dif * currentProfile.P8[PIDMAG] / 30; // 18 deg
} else
magHold = heading;
}
@ -763,12 +763,12 @@ void loop(void)
static int16_t AltHoldCorr = 0;
if (!f.FIXED_WING) {
// multirotor alt hold
if (cfg.alt_hold_fast_change) {
if (currentProfile.alt_hold_fast_change) {
// rapid alt changes
if (abs(rcCommand[THROTTLE] - initialThrottleHold) > cfg.alt_hold_throttle_neutral) {
if (abs(rcCommand[THROTTLE] - initialThrottleHold) > currentProfile.alt_hold_throttle_neutral) {
errorAltitudeI = 0;
isAltHoldChanged = 1;
rcCommand[THROTTLE] += (rcCommand[THROTTLE] > initialThrottleHold) ? -cfg.alt_hold_throttle_neutral : cfg.alt_hold_throttle_neutral;
rcCommand[THROTTLE] += (rcCommand[THROTTLE] > initialThrottleHold) ? -currentProfile.alt_hold_throttle_neutral : currentProfile.alt_hold_throttle_neutral;
} else {
if (isAltHoldChanged) {
AltHold = EstAlt;
@ -778,7 +778,7 @@ void loop(void)
}
} else {
// slow alt changes for apfags
if (abs(rcCommand[THROTTLE] - initialThrottleHold) > cfg.alt_hold_throttle_neutral) {
if (abs(rcCommand[THROTTLE] - initialThrottleHold) > currentProfile.alt_hold_throttle_neutral) {
// Slowly increase/decrease AltHold proportional to stick movement ( +100 throttle gives ~ +50 cm in 1 second with cycle time about 3-4ms)
AltHoldCorr += rcCommand[THROTTLE] - initialThrottleHold;
AltHold += AltHoldCorr / 2000;
@ -790,19 +790,19 @@ void loop(void)
isAltHoldChanged = 0;
}
rcCommand[THROTTLE] = initialThrottleHold + BaroPID;
rcCommand[THROTTLE] = constrain(rcCommand[THROTTLE], mcfg.minthrottle + 150, mcfg.maxthrottle);
rcCommand[THROTTLE] = constrain(rcCommand[THROTTLE], masterConfig.minthrottle + 150, masterConfig.maxthrottle);
}
} else {
// handle fixedwing-related althold. UNTESTED! and probably wrong
// most likely need to check changes on pitch channel and 'reset' althold similar to
// how throttle does it on multirotor
rcCommand[PITCH] += BaroPID * mcfg.fixedwing_althold_dir;
rcCommand[PITCH] += BaroPID * masterConfig.fixedwing_althold_dir;
}
}
}
#endif
if (cfg.throttle_correction_value && (f.ANGLE_MODE || f.HORIZON_MODE)) {
if (currentProfile.throttle_correction_value && (f.ANGLE_MODE || f.HORIZON_MODE)) {
rcCommand[THROTTLE] += throttleAngleCorrection;
}