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Code Issues Wiki Activity

USE_SERVO assumed always true (since it is) and removed

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2018-03-27 15:51:45 +02:00
parent 1d3c6c9195
commit e5f2abd770
18 changed files with 2 additions and 111 deletions
Download patch file Download diff file Expand all files Collapse all files

2
src/main/blackbox/blackbox.c
View file

@ -1176,10 +1176,8 @@ static void loadMainState(timeUs_t currentTimeUs)
blackboxCurrent->rssi = getRSSI();
#ifdef USE_SERVOS
//Tail servo for tricopters
blackboxCurrent->servo[5] = servo[5];
#endif
#ifdef NAV_BLACKBOX
blackboxCurrent->navState = navCurrentState;

3
src/main/config/config_master.h
View file

@ -28,10 +28,7 @@
#include "fc/config.h"
#include "fc/rc_controls.h"
#ifdef USE_SERVOS
#include "flight/servos.h"
#endif
#include "io/osd.h"
#include "io/ledstrip.h"

35
src/main/drivers/pwm_mapping.c
View file

@ -179,7 +179,6 @@ pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
// Handle outputs - may override the PWM/PPM inputs
if (init->flyingPlatformType == PLATFORM_MULTIROTOR) {
// Multicopter
#ifdef USE_SERVOS
if (init->useServoOutputs && (timerHardwarePtr->usageFlags & TIM_USE_MC_SERVO)) {
type = MAP_TO_SERVO_OUTPUT;
}
@ -187,13 +186,10 @@ pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
type = MAP_TO_SERVO_OUTPUT;
}
else
#endif
if (timerHardwarePtr->usageFlags & TIM_USE_MC_MOTOR) {
type = MAP_TO_MOTOR_OUTPUT;
}
}
#ifdef USE_SERVOS
else if (init->flyingPlatformType == PLATFORM_AIRPLANE || init->flyingPlatformType == PLATFORM_HELICOPTER) {
} else if (init->flyingPlatformType == PLATFORM_AIRPLANE || init->flyingPlatformType == PLATFORM_HELICOPTER) {
// Fixed wing or HELI (one/two motors and a lot of servos
if (timerHardwarePtr->usageFlags & TIM_USE_FW_SERVO) {
type = MAP_TO_SERVO_OUTPUT;
@ -202,37 +198,10 @@ pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
type = MAP_TO_MOTOR_OUTPUT;
}
}
#endif
// If timer not mapped - skip
if (type == MAP_TO_NONE)
continue;
/*
#ifdef USE_SERVOS
if (init->useServos && !init->airplane) {
#if defined(SPRACINGF3MINI)
// remap PWM6+7 as servos
if ((timerIndex == PWM6 || timerIndex == PWM7) && timerHardwarePtr->tim == TIM15)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(SINGULARITY)
// remap PWM6+7 as servos
if (timerIndex == PWM6 || timerIndex == PWM7)
type = MAP_TO_SERVO_OUTPUT;
#endif
}
#if defined(SPRACINGF3MINI)
if (((timerIndex == PWM6 || timerIndex == PWM7) && timerHardwarePtr->tim == TIM15)
|| ((timerIndex == PWM8 || timerIndex == PWM9 || timerIndex == PWM10 || timerIndex == PWM11) && timerHardwarePtr->tim == TIM2)) {
type = MAP_TO_SERVO_OUTPUT;
}
#endif
}
#endif // USE_SERVOS
*/
if (type == MAP_TO_PPM_INPUT) {
#if defined(USE_RX_PPM)
@ -284,7 +253,6 @@ pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
continue;
}
#ifdef USE_SERVOS
if (pwmServoConfig(timerHardwarePtr, pwmIOConfiguration.servoCount, init->servoPwmRate, init->servoCenterPulse, init->enablePWMOutput)) {
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_SERVO | PWM_PF_OUTPUT_PROTOCOL_PWM;
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].index = pwmIOConfiguration.servoCount;
@ -298,7 +266,6 @@ pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, timerIndex, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
} else {
continue;
}

2
src/main/drivers/pwm_mapping.h
View file

@ -68,12 +68,10 @@ typedef struct drv_pwm_config_s {
#ifdef USE_RANGEFINDER
bool useTriggerRangefinder;
#endif
#ifdef USE_SERVOS
bool useServoOutputs;
bool useChannelForwarding; // configure additional channels as servos
uint16_t servoPwmRate;
uint16_t servoCenterPulse;
#endif
uint8_t pwmProtocolType;
uint16_t motorPwmRate;
uint16_t idlePulse; // PWM value to use when initializing the driver. set this to either PULSE_1MS (regular pwm),

5
src/main/drivers/pwm_output.c
View file

@ -50,10 +50,7 @@ typedef struct {
static pwmOutputPort_t pwmOutputPorts[MAX_PWM_OUTPUT_PORTS];
static pwmOutputPort_t *motors[MAX_PWM_MOTORS];
#ifdef USE_SERVOS
static pwmOutputPort_t *servos[MAX_PWM_SERVOS];
#endif
#ifdef BEEPER_PWM
static pwmOutputPort_t beeperPwmPort;
@ -290,7 +287,6 @@ bool pwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, ui
return false;
}
#ifdef USE_SERVOS
bool pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse, bool enableOutput)
{
pwmOutputPort_t * port = pwmOutConfigMotor(timerHardware, PWM_TIMER_MHZ, 1000000 / servoPwmRate, servoCenterPulse, enableOutput);
@ -323,7 +319,6 @@ void pwmWriteServo(uint8_t index, uint16_t value)
}
#endif
}
#endif
#ifdef BEEPER_PWM
void pwmWriteBeeper(bool onoffBeep)

8
src/main/fc/cli.c
View file

@ -1267,7 +1267,6 @@ static void cliModeColor(char *cmdline)
}
#endif
#ifdef USE_SERVOS
static void printServo(uint8_t dumpMask, const servoParam_t *servoParam, const servoParam_t *defaultServoParam)
{
// print out servo settings
@ -1530,7 +1529,6 @@ static void cliServoMix(char *cmdline)
}
}
}
#endif // USE_SERVOS
#ifdef USE_SDCARD
@ -2575,7 +2573,6 @@ static void printConfig(const char *cmdline, bool doDiff)
printMotorMix(dumpMask, customMotorMixer_CopyArray, customMotorMixer(0));
#ifdef USE_SERVOS
// print custom servo mixer if exists
cliPrintHashLine("servo mix");
cliDumpPrintLinef(dumpMask, customServoMixers(0)->rate == 0, "smix reset\r\n");
@ -2584,7 +2581,6 @@ static void printConfig(const char *cmdline, bool doDiff)
// print servo parameters
cliPrintHashLine("servo");
printServo(dumpMask, servoParams_CopyArray, servoParams(0));
#endif
cliPrintHashLine("feature");
printFeature(dumpMask, &featureConfig_Copy, featureConfig());
@ -2755,17 +2751,13 @@ const clicmd_t cmdTable[] = {
#ifdef USE_SERIAL_PASSTHROUGH
CLI_COMMAND_DEF("serialpassthrough", "passthrough serial data to port", "<id> [baud] [mode] : passthrough to serial", cliSerialPassthrough),
#endif
#ifdef USE_SERVOS
CLI_COMMAND_DEF("servo", "configure servos", NULL, cliServo),
#endif
CLI_COMMAND_DEF("set", "change setting", "[<name>=<value>]", cliSet),
#ifdef USE_SERVOS
CLI_COMMAND_DEF("smix", "servo mixer",
"<rule> <servo> <source> <rate> <speed>\r\n"
"\treset\r\n"
"\tload <mixer>\r\n"
"\treverse <servo> <source> r|n", cliServoMix),
#endif
#ifdef USE_SDCARD
CLI_COMMAND_DEF("sd_info", "sdcard info", NULL, cliSdInfo),
#endif

6
src/main/fc/fc_core.c
View file

@ -524,7 +524,6 @@ void processRx(timeUs_t currentTimeUs)
LED1_OFF;
}
#ifdef USE_SERVOS
/* Flaperon mode */
if (IS_RC_MODE_ACTIVE(BOXFLAPERON) && STATE(FLAPERON_AVAILABLE)) {
if (!FLIGHT_MODE(FLAPERON)) {
@ -533,7 +532,6 @@ void processRx(timeUs_t currentTimeUs)
} else {
DISABLE_FLIGHT_MODE(FLAPERON);
}
#endif
#ifdef USE_FLM_TURN_ASSIST
/* Turn assistant mode */
@ -756,9 +754,7 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
// motors do not spin up while we are trying to arm or disarm.
// Allow yaw control for tricopters if the user wants the servo to move even when unarmed.
if (isUsingSticksForArming() && rcData[THROTTLE] <= rxConfig()->mincheck
#ifdef USE_SERVOS
&& !((mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI) && servoConfig()->tri_unarmed_servo)
#endif
&& mixerConfig()->mixerMode != MIXER_AIRPLANE
&& mixerConfig()->mixerMode != MIXER_FLYING_WING
&& mixerConfig()->mixerMode != MIXER_CUSTOM_AIRPLANE
@ -803,7 +799,6 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
mixTable();
#ifdef USE_SERVOS
if (isMixerUsingServos()) {
servoMixer(dT);
processServoAutotrim();
@ -818,7 +813,6 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
if (isServoOutputEnabled()) {
writeServos();
}
#endif
if (motorControlEnable) {
writeMotors();

4
src/main/fc/fc_init.c
View file

@ -269,10 +269,8 @@ void init(void)
debugTraceInit();
#endif
#ifdef USE_SERVOS
servosInit();
mixerUpdateStateFlags(); // This needs to be called early to allow pwm mapper to use information about FIXED_WING state
#endif
drv_pwm_config_t pwm_params;
memset(&pwm_params, 0, sizeof(pwm_params));
@ -314,12 +312,10 @@ void init(void)
pwm_params.usePPM = (rxConfig()->receiverType == RX_TYPE_PPM);
pwm_params.useSerialRx = (rxConfig()->receiverType == RX_TYPE_SERIAL);
#ifdef USE_SERVOS
pwm_params.useServoOutputs = isMixerUsingServos();
pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING);
pwm_params.servoCenterPulse = servoConfig()->servoCenterPulse;
pwm_params.servoPwmRate = servoConfig()->servoPwmRate;
#endif
pwm_params.pwmProtocolType = motorConfig()->motorPwmProtocol;
#ifndef BRUSHED_MOTORS

15
src/main/fc/fc_msp.c
View file

@ -439,7 +439,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
}
break;
#ifdef USE_SERVOS
case MSP_SERVO:
sbufWriteData(dst, &servo, MAX_SUPPORTED_SERVOS * 2);
break;
@ -466,8 +465,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU8(dst, 0);
}
break;
#endif
case MSP2_COMMON_MOTOR_MIXER:
for (uint8_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
sbufWriteU16(dst, customMotorMixer(i)->throttle * 1000);
@ -1009,11 +1006,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU8(dst, 1); // BF: motorConfig()->useUnsyncedPwm
sbufWriteU8(dst, motorConfig()->motorPwmProtocol);
sbufWriteU16(dst, motorConfig()->motorPwmRate);
#ifdef USE_SERVOS
sbufWriteU16(dst, servoConfig()->servoPwmRate);
#else
sbufWriteU16(dst, 0);
#endif
sbufWriteU8(dst, gyroConfig()->gyroSync);
break;
@ -1651,7 +1644,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
return MSP_RESULT_ERROR;
break;
#ifdef USE_SERVOS
case MSP_SET_SERVO_CONFIGURATION:
if (dataSize != (1 + 14)) {
return MSP_RESULT_ERROR;
@ -1671,9 +1663,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
servoComputeScalingFactors(tmp_u8);
}
break;
#endif
#ifdef USE_SERVOS
case MSP_SET_SERVO_MIX_RULE:
sbufReadU8Safe(&tmp_u8, src);
if ((dataSize >= 8) && (tmp_u8 < MAX_SERVO_RULES)) {
@ -1687,7 +1677,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
} else
return MSP_RESULT_ERROR;
break;
#endif
case MSP2_COMMON_SET_MOTOR_MIXER:
sbufReadU8Safe(&tmp_u8, src);
@ -1743,11 +1732,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
sbufReadU8(src); // BF: motorConfig()->useUnsyncedPwm
motorConfigMutable()->motorPwmProtocol = sbufReadU8(src);
motorConfigMutable()->motorPwmRate = sbufReadU16(src);
#ifdef USE_SERVOS
servoConfigMutable()->servoPwmRate = sbufReadU16(src);
#else
sbufReadU16(src);
#endif
gyroConfigMutable()->gyroSync = sbufReadU8(src);
} else
return MSP_RESULT_ERROR;

2
src/main/fc/fc_msp_box.c
View file

@ -199,7 +199,6 @@ void initActiveBoxIds(void)
#endif
}
#ifdef USE_SERVOS
/*
* FLAPERON mode active only in case of airplane and custom airplane. Activating on
* flying wing can cause bad thing
@ -207,7 +206,6 @@ void initActiveBoxIds(void)
if (STATE(FLAPERON_AVAILABLE)) {
activeBoxIds[activeBoxIdCount++] = BOXFLAPERON;
}
#endif
activeBoxIds[activeBoxIdCount++] = BOXBEEPERON;

5
src/main/fc/settings.yaml
View file

@ -487,7 +487,6 @@ groups:
- name: PG_GIMBAL_CONFIG
type: gimbalConfig_t
headers: ["io/gimbal.h"]
condition: USE_SERVOS
members:
- name: gimbal_mode
field: mode
@ -582,7 +581,6 @@ groups:
- name: PG_SERVO_CONFIG
type: servoConfig_t
headers: ["flight/servos.h"]
condition: USE_SERVOS
members:
- name: servo_center_pulse
field: servoCenterPulse
@ -880,17 +878,14 @@ groups:
max: 2
- name: fw_iterm_throw_limit
field: fixedWingItermThrowLimit
condition: USE_SERVOS
min: FW_ITERM_THROW_LIMIT_MIN
max: FW_ITERM_THROW_LIMIT_MAX
- name: fw_reference_airspeed
field: fixedWingReferenceAirspeed
condition: USE_SERVOS
min: 1
max: 5000
- name: fw_turn_assist_yaw_gain
field: fixedWingCoordinatedYawGain
condition: USE_SERVOS
min: 0
max: 2
- name: dterm_notch_hz

11
src/main/flight/mixer.c
View file

@ -302,7 +302,6 @@ bool isMixerEnabled(mixerMode_e mixerMode)
return (mixer != NULL) ? true : false;
}
#ifdef USE_SERVOS
void mixerUpdateStateFlags(void)
{
// set flag that we're on something with wings
@ -363,16 +362,6 @@ void mixerUsePWMIOConfiguration(void)
mixerResetDisarmedMotors();
}
#else
void mixerUsePWMIOConfiguration(void)
{
motorCount = 4;
for (int i = 0; i < motorCount; i++) {
currentMixer[i] = mixerQuadX[i];
}
mixerResetDisarmedMotors();
}
#endif
void mixerLoadMix(int index, motorMixer_t *customMixers)
{

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

@ -443,7 +443,6 @@ static void pidApplySetpointRateLimiting(pidState_t *pidState, flight_dynamics_i
}
}
#ifdef USE_SERVOS
static void pidApplyFixedWingRateController(pidState_t *pidState, flight_dynamics_index_t axis)
{
const float rateError = pidState->rateTarget - pidState->gyroRate;
@ -485,7 +484,6 @@ static void pidApplyFixedWingRateController(pidState_t *pidState, flight_dynamic
axisPID_Setpoint[axis] = pidState->rateTarget;
#endif
}
#endif
static void pidApplyMulticopterRateController(pidState_t *pidState, flight_dynamics_index_t axis)
{
@ -761,15 +759,11 @@ void pidController(void)
// Step 4: Run gyro-driven control
for (int axis = 0; axis < 3; axis++) {
// Apply PID setpoint controller
#ifdef USE_SERVOS
if (STATE(FIXED_WING)) {
pidApplyFixedWingRateController(&pidState[axis], axis);
}
else {
pidApplyMulticopterRateController(&pidState[axis], axis);
}
#else
pidApplyMulticopterRateController(&pidState[axis], axis);
#endif
}
}

5
src/main/flight/servos.c
View file

@ -22,8 +22,6 @@
#include "platform.h"
#ifdef USE_SERVOS
#include "build/debug.h"
#include "build/build_config.h"
@ -568,5 +566,4 @@ bool isServoOutputEnabled(void)
bool isMixerUsingServos(void)
{
return mixerUsesServos;
}
#endif
}

1
src/main/target/KFC32F3_INAV/target.h
View file

@ -136,7 +136,6 @@
// Number of available PWM outputs
#define MAX_PWM_OUTPUT_PORTS 10
#define TARGET_MOTOR_COUNT 10
#define USE_SERVOS
// IO - stm32f303cc in 48pin package
#define TARGET_IO_PORTA 0xffff

1
src/main/target/PIKOBLX/target.h
View file

@ -67,7 +67,6 @@
#define USE_TELEMETRY
#define USE_BLACKBOX
#define USE_SERIAL_RX
#define USE_SERVOS
#define BOARD_HAS_VOLTAGE_DIVIDER
#define USE_ADC

1
src/main/target/common.h
View file

@ -21,7 +21,6 @@
#define I2C2_OVERCLOCK false
#define USE_I2C_PULLUP // Enable built-in pullups on all boards in case external ones are too week
#define USE_SERVOS
#define USE_CLI
#define USE_RX_PWM

1
src/test/unit/target.h
View file

@ -34,7 +34,6 @@
#define USE_TELEMETRY_SMARTPORT
#define USE_TELEMETRY_LTM
#define USE_LED_STRIP
#define USE_SERVOS
#define TRANSPONDER
#define USE_FAKE_GYRO
#define USE_VCP