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Code Issues Wiki Activity

Refactor LC, GF and GVAR to use single scheduler task

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2020-07-08 15:18:52 +02:00
parent 5ef91047f0
commit 47cd8f317d
20 changed files with 120 additions and 73 deletions
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16
src/main/fc/fc_msp.c
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@ -35,8 +35,8 @@
#include "common/bitarray.h"
#include "common/time.h"
#include "common/utils.h"
#include "common/global_functions.h"
#include "common/global_variables.h"
#include "programming/global_functions.h"
#include "programming/global_variables.h"
#include "config/parameter_group_ids.h"
@ -520,14 +520,14 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU8(dst, customServoMixers(i)->inputSource);
sbufWriteU16(dst, customServoMixers(i)->rate);
sbufWriteU8(dst, customServoMixers(i)->speed);
#ifdef USE_LOGIC_CONDITIONS
#ifdef USE_PROGRAMMING_FRAMEWORK
sbufWriteU8(dst, customServoMixers(i)->conditionId);
#else
sbufWriteU8(dst, -1);
#endif
}
break;
#ifdef USE_LOGIC_CONDITIONS
#ifdef USE_PROGRAMMING_FRAMEWORK
case MSP2_INAV_LOGIC_CONDITIONS:
for (int i = 0; i < MAX_LOGIC_CONDITIONS; i++) {
sbufWriteU8(dst, logicConditions(i)->enabled);
@ -551,7 +551,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
}
break;
#endif
#ifdef USE_GLOBAL_FUNCTIONS
#ifdef USE_PROGRAMMING_FRAMEWORK
case MSP2_INAV_GLOBAL_FUNCTIONS:
for (int i = 0; i < MAX_GLOBAL_FUNCTIONS; i++) {
sbufWriteU8(dst, globalFunctions(i)->enabled);
@ -1928,7 +1928,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
customServoMixersMutable(tmp_u8)->inputSource = sbufReadU8(src);
customServoMixersMutable(tmp_u8)->rate = sbufReadU16(src);
customServoMixersMutable(tmp_u8)->speed = sbufReadU8(src);
#ifdef USE_LOGIC_CONDITIONS
#ifdef USE_PROGRAMMING_FRAMEWORK
customServoMixersMutable(tmp_u8)->conditionId = sbufReadU8(src);
#else
sbufReadU8(src);
@ -1937,7 +1937,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
} else
return MSP_RESULT_ERROR;
break;
#ifdef USE_LOGIC_CONDITIONS
#ifdef USE_PROGRAMMING_FRAMEWORK
case MSP2_INAV_SET_LOGIC_CONDITIONS:
sbufReadU8Safe(&tmp_u8, src);
if ((dataSize == 15) && (tmp_u8 < MAX_LOGIC_CONDITIONS)) {
@ -1953,7 +1953,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
return MSP_RESULT_ERROR;
break;
#endif
#ifdef USE_GLOBAL_FUNCTIONS
#ifdef USE_PROGRAMMING_FRAMEWORK
case MSP2_INAV_SET_GLOBAL_FUNCTIONS:
sbufReadU8Safe(&tmp_u8, src);
if ((dataSize == 10) && (tmp_u8 < MAX_GLOBAL_FUNCTIONS)) {