mixer_profile draft pr

src/main/config/parameter_group_ids.h

@@ -37,7 +37,7 @@
 #define PG_SYSTEM_CONFIG 18
 #define PG_FEATURE_CONFIG 19
 #define PG_MIXER_PROFILE 20
-#define PG_SERVO_MIXER 21
+// #define PG_SERVO_MIXER 21
 #define PG_IMU_CONFIG 22
 //#define PG_PROFILE_SELECTION 23
 #define PG_RX_CONFIG 24

src/main/fc/cli.c

@@ -1864,7 +1864,8 @@ static void cliServoMix(char *cmdline)
         printServoMix(DUMP_MASTER, customServoMixers(0), NULL);
     } else if (sl_strncasecmp(cmdline, "reset", 5) == 0) {
         // erase custom mixer
-        pgResetCopy(customServoMixersMutable(0), PG_SERVO_MIXER);
+        // pgResetCopy(customServoMixersMutable(0), PG_SERVO_MIXER);
+        Reset_servoMixers(customServoMixersMutable(0));
     } else {
         enum {RULE = 0, TARGET, INPUT, RATE, SPEED, CONDITION, ARGS_COUNT};
         char *ptr = strtok_r(cmdline, " ", &saveptr);
@@ -3589,12 +3590,14 @@ static void printConfig(const char *cmdline, bool doDiff)
 
     const int currentProfileIndexSave = getConfigProfile();
     const int currentBatteryProfileIndexSave = getConfigBatteryProfile();
+    const int currentMixerProfileIndexSave = getConfigMixerProfile();
     backupConfigs();
     // reset all configs to defaults to do differencing
     resetConfigs();
     // restore the profile indices, since they should not be reset for proper comparison
     setConfigProfile(currentProfileIndexSave);
     setConfigBatteryProfile(currentBatteryProfileIndexSave);
+    setConfigMixerProfile(currentMixerProfileIndexSave);
 
     if (checkCommand(options, "showdefaults")) {
         dumpMask = dumpMask | SHOW_DEFAULTS;   // add default values as comments for changed values
@@ -3622,8 +3625,8 @@ static void printConfig(const char *cmdline, bool doDiff)
 #endif
         }
 
-        // cliPrintHashLine("resources");
+        cliPrintHashLine("resources");
-        //printResource(dumpMask, &defaultConfig);
+        // printResource(dumpMask, &defaultConfig);
 
         // cliPrintHashLine("mixer");
         // cliDumpPrintLinef(dumpMask, primaryMotorMixer_CopyArray[0].throttle == 0.0f, "\r\nmmix reset\r\n");
@@ -3716,6 +3719,7 @@ static void printConfig(const char *cmdline, bool doDiff)
             // dump all profiles
             const int currentProfileIndexSave = getConfigProfile();
             const int currentBatteryProfileIndexSave = getConfigBatteryProfile();
+            const int currentMixerProfileIndexSave = getConfigMixerProfile();
             for (int ii = 0; ii < MAX_PROFILE_COUNT; ++ii) {
                 cliDumpProfile(ii, dumpMask);
             }
@@ -3727,10 +3731,11 @@ static void printConfig(const char *cmdline, bool doDiff)
             }
             setConfigProfile(currentProfileIndexSave);
             setConfigBatteryProfile(currentBatteryProfileIndexSave);
+            setConfigMixerProfile(currentMixerProfileIndexSave);
 
             cliPrintHashLine("restore original profile selection");
             cliPrintLinef("profile %d", currentProfileIndexSave + 1);
-            cliPrintLinef("battery_profile %d", currentBatteryProfileIndexSave + 1);
+            cliPrintLinef("mixer_profile %d", currentMixerProfileIndexSave + 1);
 
 #ifdef USE_CLI_BATCH
             batchModeEnabled = false;

src/main/fc/config.c

@@ -321,6 +321,7 @@ void readEEPROM(void)
 
     setConfigProfile(getConfigProfile());
     setConfigBatteryProfile(getConfigBatteryProfile());
+    setConfigMixerProfile(getConfigMixerProfile());
 
     validateAndFixConfig();
     activateConfig();

src/main/flight/mixer_profile.c

@@ -62,12 +62,12 @@ void pgResetFn_mixerProfiles(mixerProfile_t *instance)
 // PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, primaryMotorMixer, PG_MOTOR_MIXER, 0);
 
 bool OutputProfileHotSwitch(int profile_index)
-{   
+{
     // does not work with timerHardwareOverride
     LOG_INFO(PWM, "OutputProfileHotSwitch");
 
     //do not allow switching between multi rotor and non multi rotor
-#ifdef ENABLE_MCFW_MIXER_PROFILE_HOTSWAP
+#ifdef ENABLE_MIXER_PROFILE_MCFW_HOTSWAP
     bool MCFW_hotswap_unavailable = false;
 #else
     bool MCFW_hotswap_unavailable = true;
@@ -88,6 +88,7 @@ bool OutputProfileHotSwitch(int profile_index)
         LOG_INFO(PWM, "navModesEnabled");
         return false;
     }
+    //TODO add check of each motor/servo is mapped before and after the switch
     
     if (!setConfigMixerProfile(profile_index)){
         LOG_INFO(PWM, "failed to set config");
@@ -104,7 +105,7 @@ bool OutputProfileHotSwitch(int profile_index)
         pidInit();
         pidInitFilters();
         schedulePidGainsUpdate();
-        navigationInit();
+        // navigationInit(); //may need to initilize FW_HEADING_USE_YAW on rover or boat
     }
     return true;
 }

src/main/flight/mixer_profile.h

@@ -30,5 +30,7 @@ static inline const mixerProfile_t* mixerProfiles_CopyArray_by_index(int _index)
 #define customServoMixers_CopyArray() (mixerProfiles_CopyArray_by_index(systemConfig()->current_mixer_profile_index)->ServoMixers)
 
 #define mixerConfigByIndex(index) (&(mixerProfiles(index)->mixer_config))
+#define mixerMotorMixersByIndex(index) (&(mixerProfiles(index)->MotorMixers))
+#define mixerServoMixersByIndex(index) (&(mixerProfiles(index)->ServoMixers))
 
 bool OutputProfileHotSwitch(int profile_index);

src/main/flight/servos.c

@@ -87,6 +87,22 @@ PG_RESET_TEMPLATE(servoConfig_t, servoConfig,
 //     }
 // }
 
+void Reset_servoMixers(servoMixer_t *instance)
+{
+    for (int i = 0; i < MAX_SERVO_RULES; i++)
+    {
+        RESET_CONFIG(servoMixer_t, &instance[i],
+            .targetChannel = 0,
+            .inputSource = 0,
+            .rate = 0,
+            .speed = 0
+#ifdef USE_PROGRAMMING_FRAMEWORK
+            ,.conditionId = -1
+#endif
+        );       
+    }
+}
+
 PG_REGISTER_ARRAY_WITH_RESET_FN(servoParam_t, MAX_SUPPORTED_SERVOS, servoParams, PG_SERVO_PARAMS, 3);
 
 void pgResetFn_servoParams(servoParam_t *instance)

src/main/flight/servos.h

@@ -151,6 +151,7 @@ typedef struct servoMetadata_s {
 
 extern int16_t servo[MAX_SUPPORTED_SERVOS];
 
+void Reset_servoMixers(servoMixer_t* instance);
 bool isServoOutputEnabled(void);
 void setServoOutputEnabled(bool flag);
 bool isMixerUsingServos(void);

src/main/target/MATEKF405/target.c

@@ -23,7 +23,7 @@
 
 timerHardware_t timerHardware[] = {
     DEF_TIM(TIM9, CH2, PA3,  TIM_USE_PPM,   0, 0), // PPM
-#ifdef MATEKF405VTOL
+#ifdef MATEKF405VTOL//development purpose, TODO: remove it in the release
     DEF_TIM(TIM3, CH1, PC6,  TIM_USE_MC_MOTOR |                    TIM_USE_FW_MOTOR, 0, 0), // S1
     DEF_TIM(TIM8, CH2, PC7,  TIM_USE_MC_MOTOR |                    TIM_USE_FW_MOTOR, 0, 1), // S2  UP(2,1)
     DEF_TIM(TIM8, CH3, PC8,  TIM_USE_MC_MOTOR |                    TIM_USE_FW_MOTOR, 0, 1), // S3  UP(2,1)

src/main/target/MATEKF405/target.h

@@ -197,5 +197,5 @@
 #define MAX_PWM_OUTPUT_PORTS       6
 
 #ifdef MATEKF405VTOL
-#define ENABLE_MCFW_MIXER_PROFILE_HOTSWAP
+#define ENABLE_MIXER_PROFILE_MCFW_HOTSWAP
 #endif

src/main/target/MATEKF405TE/CMakeLists.txt

@@ -1,2 +1,3 @@
 target_stm32f405xg(MATEKF405TE)
 target_stm32f405xg(MATEKF405TE_SD)
+target_stm32f405xg(MATEKF405TE_SD_VTOL)

src/main/target/MATEKF405TE/target.c

@@ -25,6 +25,18 @@
 #include "drivers/timer_def_stm32f4xx.h"
 
 timerHardware_t timerHardware[] = {
+#ifdef MATEKF405TE_SD_VTOL
+//using d-shot on motors seems to have problems on s3,maybe dma related,maybe my board problem
+    DEF_TIM(TIM8,  CH4,  PC9,  TIM_USE_MC_MOTOR  | TIM_USE_FW_MOTOR,   0, 0), // S1 D(2,7,7) UP217
+    DEF_TIM(TIM8,  CH3,  PC8,  TIM_USE_MC_MOTOR  | TIM_USE_FW_MOTOR,   0, 0), // S2 D(2,2,0) UP217
+    DEF_TIM(TIM1,  CH3N, PB15, TIM_USE_MC_MOTOR  | TIM_USE_FW_MOTOR,   0, 0), // S3 D(2,6,0) UP256
+    DEF_TIM(TIM1,  CH1,  PA8,  TIM_USE_MC_MOTOR  | TIM_USE_FW_MOTOR,   0, 1), // S4 D(2,1,6) UP256
+
+    DEF_TIM(TIM2,  CH4,  PB11, TIM_USE_MC_SERVO  | TIM_USE_FW_SERVO,   0, 0), // S5 D(1,7,3) UP173
+    DEF_TIM(TIM2,  CH3,  PB10, TIM_USE_MC_SERVO  | TIM_USE_FW_SERVO,   0, 0), // S6 D(1,1,3) UP173
+    DEF_TIM(TIM2,  CH2,  PB3,  TIM_USE_MC_SERVO  | TIM_USE_FW_SERVO,   0, 0), // S7 D(1,6,3) UP173
+    DEF_TIM(TIM2,  CH1,  PA15, TIM_USE_MC_SERVO  | TIM_USE_FW_SERVO,   0, 0), // S8 D(1,5,3) UP173
+#else
     DEF_TIM(TIM8,  CH4,  PC9,  TIM_USE_MC_MOTOR  | TIM_USE_FW_MOTOR,   0, 0), // S1 D(2,7,7) UP217
     DEF_TIM(TIM8,  CH3,  PC8,  TIM_USE_MC_MOTOR  | TIM_USE_FW_MOTOR,   0, 0), // S2 D(2,2,0) UP217
     DEF_TIM(TIM1,  CH3N, PB15, TIM_USE_MC_MOTOR  | TIM_USE_FW_SERVO,   0, 0), // S3 D(2,6,0) UP256
@@ -34,7 +46,7 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM2,  CH3,  PB10, TIM_USE_MC_MOTOR  | TIM_USE_FW_SERVO,   0, 0), // S6 D(1,1,3) UP173
     DEF_TIM(TIM2,  CH2,  PB3,  TIM_USE_MC_MOTOR  | TIM_USE_FW_SERVO,   0, 0), // S7 D(1,6,3) UP173
     DEF_TIM(TIM2,  CH1,  PA15, TIM_USE_MC_MOTOR  | TIM_USE_FW_SERVO,   0, 0), // S8 D(1,5,3) UP173
-
+#endif
     DEF_TIM(TIM12, CH1,  PB14, TIM_USE_MC_SERVO  | TIM_USE_FW_SERVO,   0, 0), // S9  DMA NONE
     DEF_TIM(TIM13, CH1,  PA6,  TIM_USE_MC_SERVO  | TIM_USE_FW_SERVO,   0, 0), // S10 DMA NONE
     DEF_TIM(TIM4,  CH1,  PB6,  TIM_USE_MC_SERVO  | TIM_USE_FW_SERVO,   0, 0), // S11 D(1,0,2)

src/main/target/MATEKF405TE/target.h

@@ -180,3 +180,6 @@
 #define USE_DSHOT
 #define USE_ESC_SENSOR
 
+#ifdef MATEKF405TE_SD_VTOL
+#define ENABLE_MIXER_PROFILE_MCFW_HOTSWAP
+#endif