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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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124
src/serial_msp.c
View file

@ -270,13 +270,13 @@ void mspInit(void)
availableBoxes[idx++] = BOXGPSHOME;
availableBoxes[idx++] = BOXGPSHOLD;
}
if (mcfg.mixerConfiguration == MULTITYPE_FLYING_WING || mcfg.mixerConfiguration == MULTITYPE_AIRPLANE)
if (masterConfig.mixerConfiguration == MULTITYPE_FLYING_WING || masterConfig.mixerConfiguration == MULTITYPE_AIRPLANE)
availableBoxes[idx++] = BOXPASSTHRU;
availableBoxes[idx++] = BOXBEEPERON;
if (feature(FEATURE_INFLIGHT_ACC_CAL))
availableBoxes[idx++] = BOXCALIB;
availableBoxes[idx++] = BOXOSD;
if (feature(FEATURE_TELEMETRY && mcfg.telemetry_switch))
if (feature(FEATURE_TELEMETRY && masterConfig.telemetry_switch))
availableBoxes[idx++] = BOXTELEMETRY;
numberBoxItems = idx;
}
@ -294,8 +294,8 @@ static void evaluateCommand(void)
headSerialReply(0);
break;
case MSP_SET_ACC_TRIM:
cfg.angleTrim[PITCH] = read16();
cfg.angleTrim[ROLL] = read16();
currentProfile.angleTrim[PITCH] = read16();
currentProfile.angleTrim[ROLL] = read16();
headSerialReply(0);
break;
case MSP_SET_RAW_GPS:
@ -310,39 +310,39 @@ static void evaluateCommand(void)
break;
case MSP_SET_PID:
for (i = 0; i < PID_ITEM_COUNT; i++) {
cfg.P8[i] = read8();
cfg.I8[i] = read8();
cfg.D8[i] = read8();
currentProfile.P8[i] = read8();
currentProfile.I8[i] = read8();
currentProfile.D8[i] = read8();
}
headSerialReply(0);
break;
case MSP_SET_BOX:
for (i = 0; i < numberBoxItems; i++)
cfg.activate[availableBoxes[i]] = read16();
currentProfile.activate[availableBoxes[i]] = read16();
headSerialReply(0);
break;
case MSP_SET_RC_TUNING:
cfg.controlRateConfig.rcRate8 = read8();
cfg.controlRateConfig.rcExpo8 = read8();
cfg.controlRateConfig.rollPitchRate = read8();
cfg.controlRateConfig.yawRate = read8();
cfg.dynThrPID = read8();
cfg.controlRateConfig.thrMid8 = read8();
cfg.controlRateConfig.thrExpo8 = read8();
currentProfile.controlRateConfig.rcRate8 = read8();
currentProfile.controlRateConfig.rcExpo8 = read8();
currentProfile.controlRateConfig.rollPitchRate = read8();
currentProfile.controlRateConfig.yawRate = read8();
currentProfile.dynThrPID = read8();
currentProfile.controlRateConfig.thrMid8 = read8();
currentProfile.controlRateConfig.thrExpo8 = read8();
headSerialReply(0);
break;
case MSP_SET_MISC:
read16(); // powerfailmeter
mcfg.minthrottle = read16();
mcfg.maxthrottle = read16();
mcfg.mincommand = read16();
cfg.failsafeConfig.failsafe_throttle = read16();
masterConfig.minthrottle = read16();
masterConfig.maxthrottle = read16();
masterConfig.mincommand = read16();
currentProfile.failsafeConfig.failsafe_throttle = read16();
read16();
read32();
cfg.mag_declination = read16() * 10;
mcfg.batteryConfig.vbatscale = read8(); // actual vbatscale as intended
mcfg.batteryConfig.vbatmincellvoltage = read8(); // vbatlevel_warn1 in MWC2.3 GUI
mcfg.batteryConfig.vbatmaxcellvoltage = read8(); // vbatlevel_warn2 in MWC2.3 GUI
currentProfile.mag_declination = read16() * 10;
masterConfig.batteryConfig.vbatscale = read8(); // actual vbatscale as intended
masterConfig.batteryConfig.vbatmincellvoltage = read8(); // vbatlevel_warn1 in MWC2.3 GUI
masterConfig.batteryConfig.vbatmaxcellvoltage = read8(); // vbatlevel_warn2 in MWC2.3 GUI
read8(); // vbatlevel_crit (unused)
headSerialReply(0);
break;
@ -353,9 +353,9 @@ static void evaluateCommand(void)
break;
case MSP_SELECT_SETTING:
if (!f.ARMED) {
mcfg.current_profile = read8();
if (mcfg.current_profile > 2) {
mcfg.current_profile = 0;
masterConfig.current_profile = read8();
if (masterConfig.current_profile > 2) {
masterConfig.current_profile = 0;
}
writeEEPROM();
readEEPROM();
@ -369,9 +369,9 @@ static void evaluateCommand(void)
case MSP_IDENT:
headSerialReply(7);
serialize8(VERSION); // multiwii version
serialize8(mcfg.mixerConfiguration); // type of multicopter
serialize8(masterConfig.mixerConfiguration); // type of multicopter
serialize8(MSP_VERSION); // MultiWii Serial Protocol Version
serialize32(CAP_PLATFORM_32BIT | CAP_DYNBALANCE | (mcfg.flaps_speed ? CAP_FLAPS : 0) | CAP_CHANNEL_FORWARDING); // "capability"
serialize32(CAP_PLATFORM_32BIT | CAP_DYNBALANCE | (masterConfig.flaps_speed ? CAP_FLAPS : 0) | CAP_CHANNEL_FORWARDING); // "capability"
break;
case MSP_STATUS:
headSerialReply(11);
@ -402,7 +402,7 @@ static void evaluateCommand(void)
junk |= 1 << i;
}
serialize32(junk);
serialize8(mcfg.current_profile);
serialize8(masterConfig.current_profile);
break;
case MSP_RAW_IMU:
headSerialReply(18);
@ -425,38 +425,38 @@ static void evaluateCommand(void)
case MSP_SERVO_CONF:
headSerialReply(56);
for (i = 0; i < MAX_SERVOS; i++) {
serialize16(cfg.servoConf[i].min);
serialize16(cfg.servoConf[i].max);
serialize16(cfg.servoConf[i].middle);
serialize8(cfg.servoConf[i].rate);
serialize16(currentProfile.servoConf[i].min);
serialize16(currentProfile.servoConf[i].max);
serialize16(currentProfile.servoConf[i].middle);
serialize8(currentProfile.servoConf[i].rate);
}
break;
case MSP_SET_SERVO_CONF:
headSerialReply(0);
for (i = 0; i < MAX_SERVOS; i++) {
cfg.servoConf[i].min = read16();
cfg.servoConf[i].max = read16();
currentProfile.servoConf[i].min = read16();
currentProfile.servoConf[i].max = read16();
// provide temporary support for old clients that try and send a channel index instead of a servo middle
uint16_t potentialServoMiddleOrChannelToForward = read16();
if (potentialServoMiddleOrChannelToForward < MAX_SERVOS) {
cfg.servoConf[i].forwardFromChannel = potentialServoMiddleOrChannelToForward;
currentProfile.servoConf[i].forwardFromChannel = potentialServoMiddleOrChannelToForward;
}
if (potentialServoMiddleOrChannelToForward >= PWM_RANGE_MIN && potentialServoMiddleOrChannelToForward <= PWM_RANGE_MAX) {
cfg.servoConf[i].middle = potentialServoMiddleOrChannelToForward;
currentProfile.servoConf[i].middle = potentialServoMiddleOrChannelToForward;
}
cfg.servoConf[i].rate = read8();
currentProfile.servoConf[i].rate = read8();
}
break;
case MSP_CHANNEL_FORWARDING:
headSerialReply(8);
for (i = 0; i < MAX_SERVOS; i++) {
serialize8(cfg.servoConf[i].forwardFromChannel);
serialize8(currentProfile.servoConf[i].forwardFromChannel);
}
break;
case MSP_SET_CHANNEL_FORWARDING:
headSerialReply(0);
for (i = 0; i < MAX_SERVOS; i++) {
cfg.servoConf[i].forwardFromChannel = read8();
currentProfile.servoConf[i].forwardFromChannel = read8();
}
break;
case MSP_MOTOR:
@ -503,20 +503,20 @@ static void evaluateCommand(void)
break;
case MSP_RC_TUNING:
headSerialReply(7);
serialize8(cfg.controlRateConfig.rcRate8);
serialize8(cfg.controlRateConfig.rcExpo8);
serialize8(cfg.controlRateConfig.rollPitchRate);
serialize8(cfg.controlRateConfig.yawRate);
serialize8(cfg.dynThrPID);
serialize8(cfg.controlRateConfig.thrMid8);
serialize8(cfg.controlRateConfig.thrExpo8);
serialize8(currentProfile.controlRateConfig.rcRate8);
serialize8(currentProfile.controlRateConfig.rcExpo8);
serialize8(currentProfile.controlRateConfig.rollPitchRate);
serialize8(currentProfile.controlRateConfig.yawRate);
serialize8(currentProfile.dynThrPID);
serialize8(currentProfile.controlRateConfig.thrMid8);
serialize8(currentProfile.controlRateConfig.thrExpo8);
break;
case MSP_PID:
headSerialReply(3 * PID_ITEM_COUNT);
for (i = 0; i < PID_ITEM_COUNT; i++) {
serialize8(cfg.P8[i]);
serialize8(cfg.I8[i]);
serialize8(cfg.D8[i]);
serialize8(currentProfile.P8[i]);
serialize8(currentProfile.I8[i]);
serialize8(currentProfile.D8[i]);
}
break;
case MSP_PIDNAMES:
@ -526,7 +526,7 @@ static void evaluateCommand(void)
case MSP_BOX:
headSerialReply(2 * numberBoxItems);
for (i = 0; i < numberBoxItems; i++)
serialize16(cfg.activate[availableBoxes[i]]);
serialize16(currentProfile.activate[availableBoxes[i]]);
break;
case MSP_BOXNAMES:
// headSerialReply(sizeof(boxnames) - 1);
@ -540,16 +540,16 @@ static void evaluateCommand(void)
case MSP_MISC:
headSerialReply(2 * 6 + 4 + 2 + 4);
serialize16(0); // intPowerTrigger1 (aka useless trash)
serialize16(mcfg.minthrottle);
serialize16(mcfg.maxthrottle);
serialize16(mcfg.mincommand);
serialize16(cfg.failsafeConfig.failsafe_throttle);
serialize16(masterConfig.minthrottle);
serialize16(masterConfig.maxthrottle);
serialize16(masterConfig.mincommand);
serialize16(currentProfile.failsafeConfig.failsafe_throttle);
serialize16(0); // plog useless shit
serialize32(0); // plog useless shit
serialize16(cfg.mag_declination / 10); // TODO check this shit
serialize8(mcfg.batteryConfig.vbatscale);
serialize8(mcfg.batteryConfig.vbatmincellvoltage);
serialize8(mcfg.batteryConfig.vbatmaxcellvoltage);
serialize16(currentProfile.mag_declination / 10); // TODO check this shit
serialize8(masterConfig.batteryConfig.vbatscale);
serialize8(masterConfig.batteryConfig.vbatmincellvoltage);
serialize8(masterConfig.batteryConfig.vbatmaxcellvoltage);
serialize8(0);
break;
case MSP_MOTOR_PINS:
@ -621,7 +621,7 @@ static void evaluateCommand(void)
if (f.ARMED) {
headSerialError(0);
} else {
copyCurrentProfileToProfileSlot(mcfg.current_profile);
copyCurrentProfileToProfileSlot(masterConfig.current_profile);
writeEEPROM();
readEEPROM();
headSerialReply(0);
@ -638,8 +638,8 @@ static void evaluateCommand(void)
// Additional commands that are not compatible with MultiWii
case MSP_ACC_TRIM:
headSerialReply(4);
serialize16(cfg.angleTrim[PITCH]);
serialize16(cfg.angleTrim[ROLL]);
serialize16(currentProfile.angleTrim[PITCH]);
serialize16(currentProfile.angleTrim[ROLL]);
break;
case MSP_UID:
headSerialReply(12);