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Code Issues Wiki Activity

Refactor handling of RC input data

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- Remove globals rcData and rcRaw
- Use accesor functions to retrieve RX input data
- Refactor rx.c to use an array of structs instead of multiple arrays
- Drop the RC Preview menu from CMS. Implementing this without
globals requires significant flash and the usefulness of this menu
is questionable. If we get complains, we can add it back later.

Flash usage goes down ~250 bytes due to the removed menu. Final
binary is mostly unaffected, since LTO is able to inline the new
accessor functions in most cases.
This commit is contained in:
Alberto García Hierro 2019-01-19 16:19:11 +00:00
parent fb62330722
commit d524d8c8cc
19 changed files with 118 additions and 131 deletions
Download patch file Download diff file Expand all files Collapse all files

26
src/main/fc/rc_controls.c
View file

@ -101,9 +101,9 @@ bool areSticksDeflectedMoreThanPosHoldDeadband(void)
throttleStatus_e calculateThrottleStatus(void)
{
const uint16_t deadband3d_throttle = rcControlsConfig()->deadband3d_throttle;
if (feature(FEATURE_3D) && (rcData[THROTTLE] > (PWM_RANGE_MIDDLE - deadband3d_throttle) && rcData[THROTTLE] < (PWM_RANGE_MIDDLE + deadband3d_throttle)))
if (feature(FEATURE_3D) && (rxGetChannelValue(THROTTLE) > (PWM_RANGE_MIDDLE - deadband3d_throttle) && rxGetChannelValue(THROTTLE) < (PWM_RANGE_MIDDLE + deadband3d_throttle)))
return THROTTLE_LOW;
else if (!feature(FEATURE_3D) && (rcData[THROTTLE] < rxConfig()->mincheck))
else if (!feature(FEATURE_3D) && (rxGetChannelValue(THROTTLE) < rxConfig()->mincheck))
return THROTTLE_LOW;
return THROTTLE_HIGH;
@ -111,8 +111,8 @@ throttleStatus_e calculateThrottleStatus(void)
rollPitchStatus_e calculateRollPitchCenterStatus(void)
{
if (((rcData[PITCH] < (PWM_RANGE_MIDDLE + AIRMODE_DEADBAND)) && (rcData[PITCH] > (PWM_RANGE_MIDDLE -AIRMODE_DEADBAND)))
&& ((rcData[ROLL] < (PWM_RANGE_MIDDLE + AIRMODE_DEADBAND)) && (rcData[ROLL] > (PWM_RANGE_MIDDLE -AIRMODE_DEADBAND))))
if (((rxGetChannelValue(PITCH) < (PWM_RANGE_MIDDLE + AIRMODE_DEADBAND)) && (rxGetChannelValue(PITCH) > (PWM_RANGE_MIDDLE -AIRMODE_DEADBAND)))
&& ((rxGetChannelValue(ROLL) < (PWM_RANGE_MIDDLE + AIRMODE_DEADBAND)) && (rxGetChannelValue(ROLL) > (PWM_RANGE_MIDDLE -AIRMODE_DEADBAND))))
return CENTERED;
return NOT_CENTERED;
@ -139,17 +139,17 @@ static void updateRcStickPositions(void)
{
stickPositions_e tmp = 0;
tmp |= ((rcData[ROLL] > rxConfig()->mincheck) ? 0x02 : 0x00) << (ROLL * 2);
tmp |= ((rcData[ROLL] < rxConfig()->maxcheck) ? 0x01 : 0x00) << (ROLL * 2);
tmp |= ((rxGetChannelValue(ROLL) > rxConfig()->mincheck) ? 0x02 : 0x00) << (ROLL * 2);
tmp |= ((rxGetChannelValue(ROLL) < rxConfig()->maxcheck) ? 0x01 : 0x00) << (ROLL * 2);
tmp |= ((rcData[PITCH] > rxConfig()->mincheck) ? 0x02 : 0x00) << (PITCH * 2);
tmp |= ((rcData[PITCH] < rxConfig()->maxcheck) ? 0x01 : 0x00) << (PITCH * 2);
tmp |= ((rxGetChannelValue(PITCH) > rxConfig()->mincheck) ? 0x02 : 0x00) << (PITCH * 2);
tmp |= ((rxGetChannelValue(PITCH) < rxConfig()->maxcheck) ? 0x01 : 0x00) << (PITCH * 2);
tmp |= ((rcData[YAW] > rxConfig()->mincheck) ? 0x02 : 0x00) << (YAW * 2);
tmp |= ((rcData[YAW] < rxConfig()->maxcheck) ? 0x01 : 0x00) << (YAW * 2);
tmp |= ((rxGetChannelValue(YAW) > rxConfig()->mincheck) ? 0x02 : 0x00) << (YAW * 2);
tmp |= ((rxGetChannelValue(YAW) < rxConfig()->maxcheck) ? 0x01 : 0x00) << (YAW * 2);
tmp |= ((rcData[THROTTLE] > rxConfig()->mincheck) ? 0x02 : 0x00) << (THROTTLE * 2);
tmp |= ((rcData[THROTTLE] < rxConfig()->maxcheck) ? 0x01 : 0x00) << (THROTTLE * 2);
tmp |= ((rxGetChannelValue(THROTTLE) > rxConfig()->mincheck) ? 0x02 : 0x00) << (THROTTLE * 2);
tmp |= ((rxGetChannelValue(THROTTLE) < rxConfig()->maxcheck) ? 0x01 : 0x00) << (THROTTLE * 2);
rcStickPositions = tmp;
}
@ -350,5 +350,5 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
}
int32_t getRcStickDeflection(int32_t axis) {
return MIN(ABS(rcData[axis] - PWM_RANGE_MIDDLE), 500);
return MIN(ABS(rxGetChannelValue(axis) - PWM_RANGE_MIDDLE), 500);
}