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Code Issues Wiki Activity

Fixup after rebase

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This commit is contained in:
Martin Budden 2016-10-04 11:53:14 +01:00
parent a23ad505d4
commit 03e10ff57a
8 changed files with 19 additions and 21 deletions
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13
src/main/config/config.c
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@ -259,11 +259,13 @@ void resetMotorConfig(motorConfig_t *motorConfig)
}
void resetServoConfig(servoConfig_t *servoConfig)
#ifdef USE_SERVOS
void resetServoPwmConfig(servoPwmConfig_t *servoPwmConfig)
{
servoConfig->servoCenterPulse = 1500;
servoConfig->servoPwmRate = 50;
servoPwmConfig->servoCenterPulse = 1500;
servoPwmConfig->servoPwmRate = 50;
}
#endif
void resetFlight3DConfig(flight3DConfig_t *flight3DConfig)
{
@ -487,11 +489,10 @@ static void resetConf(void)
resetMixerConfig(&masterConfig.mixerConfig);
#ifdef USE_SERVOS
resetServoConfig(&masterConfig.servoConfig);
resetServoPwmConfig(&masterConfig.servoPwmConfig);
#endif
// Motor/ESC/Servo
resetMotorConfig(&masterConfig.motorConfig);
resetServoConfig(&masterConfig.servoConfig);
resetFlight3DConfig(&masterConfig.flight3DConfig);
#ifdef GPS
@ -728,7 +729,7 @@ void activateConfig(void)
mixerUseConfigs(&masterConfig.flight3DConfig, &masterConfig.motorConfig, &masterConfig.mixerConfig, &masterConfig.rxConfig);
#ifdef USE_SERVOS
servosUseConfigs(&masterConfig.servoConfig, currentProfile->servoConf, &currentProfile->gimbalConfig);
servosUseConfigs(&masterConfig.servoConfig, currentProfile->servoConf, &currentProfile->gimbalConfig, &masterConfig.rxConfig);
#endif
imuRuntimeConfig.dcm_kp_acc = masterConfig.dcm_kp_acc / 10000.0f;

2
src/main/config/config_master.h
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@ -37,7 +37,7 @@ typedef struct master_s {
#endif
// motor/esc/servo related stuff
motorConfig_t motorConfig;
servoConfig_t servoConfig;
servoPwmConfig_t servoPwmConfig;
flight3DConfig_t flight3DConfig;
// global sensor-related stuff

5
src/main/flight/mixer.c
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@ -73,13 +73,8 @@ bool motorLimitReached = false;
mixerConfig_t *mixerConfig;
static flight3DConfig_t *flight3DConfig;
<<<<<<< 8e828b19d6c2105114ebe7dfa31f114733ca326d
static escAndServoConfig_t *escAndServoConfig;
rxConfig_t *rxConfig;
=======
static motorConfig_t *motorConfig;
static rxConfig_t *rxConfig;
>>>>>>> Split escAndServoConfig into motor and servo parts, as per betaflight
mixerMode_e currentMixerMode;
static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];

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

@ -63,7 +63,8 @@
extern mixerMode_e currentMixerMode;
extern const mixer_t mixers[];
extern mixerConfig_t *mixerConfig;
extern rxConfig_t *rxConfig;
static rxConfig_t *rxConfig;
servoConfig_t *servoConfig;
@ -134,11 +135,12 @@ const mixerRules_t servoMixers[] = {
static servoMixer_t *customServoMixers;
void servosUseConfigs(servoConfig_t *servoConfigToUse, servoParam_t *servoParamsToUse, gimbalConfig_t *gimbalConfigToUse)
void servosUseConfigs(servoConfig_t *servoConfigToUse, servoParam_t *servoParamsToUse, gimbalConfig_t *gimbalConfigToUse, rxConfig_t *rxConfigToUse)
{
servoConfig = servoConfigToUse;
servoConf = servoParamsToUse;
gimbalConfig = gimbalConfigToUse;
rxConfig = rxConfigToUse;
}
int16_t getFlaperonDirection(uint8_t servoPin) {

2
src/main/flight/servos.h
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@ -127,6 +127,6 @@ void filterServos(void);
void servoMixerLoadMix(int index, servoMixer_t *customServoMixers);
void loadCustomServoMixer(void);
int servoDirection(int servoIndex, int fromChannel);
void servosUseConfigs(servoConfig_t *servoConfigToUse, servoParam_t *servoParamsToUse, gimbalConfig_t *gimbalConfigToUse);
void servosUseConfigs(servoConfig_t *servoConfigToUse, servoParam_t *servoParamsToUse, gimbalConfig_t *gimbalConfigToUse, struct rxConfig_s *rxConfigToUse);
void servosInit(servoMixer_t *customServoMixers);

4
src/main/io/serial_cli.c
View file

@ -760,8 +760,8 @@ const clivalue_t valueTable[] = {
{ "servo_lowpass_freq", VAR_INT16 | MASTER_VALUE, &masterConfig.servoConfig.servo_lowpass_freq, .config.minmax = { 10, 400}, 0 },
{ "servo_lowpass_enable", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.servoConfig.servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON }, 0 },
{ "gimbal_mode", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].gimbalConfig.mode, .config.lookup = { TABLE_GIMBAL_MODE }, 0 },
{ "servo_center_pulse", VAR_UINT16 | MASTER_VALUE, &masterConfig.servoConfig.servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, 0 },
{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.servoConfig.servoPwmRate, .config.minmax = { 50, 498 }, 0 },
{ "servo_center_pulse", VAR_UINT16 | MASTER_VALUE, &masterConfig.servoPwmConfig.servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX }, 0 },
{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.servoPwmConfig.servoPwmRate, .config.minmax = { 50, 498 }, 0 },
{ "fw_iterm_throw_limit", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.fixedWingItermThrowLimit, .config.minmax = { FW_ITERM_THROW_LIMIT_MIN, FW_ITERM_THROW_LIMIT_MAX}, 0 },
#endif

4
src/main/io/servos.h
View file

@ -17,8 +17,8 @@
#pragma once
typedef struct servoConfig_s {
typedef struct servoPwmConfig_s {
// PWM values, in milliseconds, common range is 1000-2000 (1ms to 2ms)
uint16_t servoCenterPulse; // This is the value for servos when they should be in the middle. e.g. 1500.
uint16_t servoPwmRate; // The update rate of servo outputs (50-498Hz)
} servoConfig_t;
} servoPwmConfig_t;

4
src/main/main.c
View file

@ -270,8 +270,8 @@ void init(void)
#ifdef USE_SERVOS
pwm_params.useServos = isMixerUsingServos();
pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING);
pwm_params.servoCenterPulse = masterConfig.servoConfig.servoCenterPulse;
pwm_params.servoPwmRate = masterConfig.servoConfig.servoPwmRate;
pwm_params.servoCenterPulse = masterConfig.servoPwmConfig.servoCenterPulse;
pwm_params.servoPwmRate = masterConfig.servoPwmConfig.servoPwmRate;
#endif
pwm_params.useOneshot = feature(FEATURE_ONESHOT125);