mixprofile development

iNavFlight · Nov 14, 2022 · 67390e1 · 67390e1
1 parent cbbef19
commit 67390e1
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Showing 12 changed files with 119 additions and 156 deletions.
diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c
@@ -47,6 +47,13 @@ enum {
     MAP_TO_SERVO_OUTPUT,
 };
 
+typedef struct {
+    int maxTimMotorCount;
+    int maxTimServoCount;
+    const timerHardware_t * timMotors[MAX_PWM_OUTPUT_PORTS];
+    const timerHardware_t * timServos[MAX_PWM_OUTPUT_PORTS];
+} timMotorServoHardware_t;
+
 static pwmInitError_e pwmInitError = PWM_INIT_ERROR_NONE;
 
 static const char * pwmInitErrorMsg[] = {
@@ -220,12 +227,10 @@ static void timerHardwareOverride(timerHardware_t * timer) {
 
 void pwmBuildTimerOutputList(timMotorServoHardware_t * timOutputs, bool isMixerUsingServos)
 {
-    LOG_INFO(PWM, "pwmBuildTimerOutputList");
     timOutputs->maxTimMotorCount = 0;
     timOutputs->maxTimServoCount = 0;
 
     uint8_t motorCount = getMotorCount();
-    LOG_INFO(PWM, "motorCount %d", motorCount);
     uint8_t motorIdx = 0;
 
     for (int idx = 0; idx < timerHardwareCount; idx++) {
@@ -387,19 +392,11 @@ bool pwmMotorAndServoInit(void)
 
     // Build temporary timer mappings for motor and servo
     pwmBuildTimerOutputList(&timOutputs, isMixerUsingServos());
+
     // At this point we have built tables of timers suitable for motor and servo mappings
     // Now we can actually initialize them according to motor/servo count from mixer
     pwmInitMotors(&timOutputs);
     pwmInitServos(&timOutputs);
 
     return (pwmInitError == PWM_INIT_ERROR_NONE);
 }
-
-// bool pwmMotorAndServoHotInit(timMotorServoHardware_t* timOutputs)
-// {
-//     resetAllocatedOutputPortCount();
-//     pwmInitMotors(timOutputs);
-//     pwmInitServos(timOutputs);
-
-//     return (pwmInitError == PWM_INIT_ERROR_NONE);
-// }
diff --git a/src/main/drivers/pwm_mapping.h b/src/main/drivers/pwm_mapping.h
@@ -18,7 +18,6 @@
 #pragma once
 
 #include "drivers/io_types.h"
-#include "drivers/timer.h"
 #include "flight/mixer_profile.h"
 #include "flight/servos.h"
 
@@ -62,13 +61,6 @@ typedef enum {
     PWM_INIT_ERROR_TIMER_INIT_FAILED,
 } pwmInitError_e;
 
-typedef struct {
-    int maxTimMotorCount;
-    int maxTimServoCount;
-    const timerHardware_t * timMotors[MAX_PWM_OUTPUT_PORTS];
-    const timerHardware_t * timServos[MAX_PWM_OUTPUT_PORTS];
-} timMotorServoHardware_t;
-
 typedef struct rangefinderIOConfig_s {
     ioTag_t triggerTag;
     ioTag_t echoTag;
@@ -79,9 +71,7 @@ typedef struct {
     bool isDSHOT;
 } motorProtocolProperties_t;
 
-void pwmBuildTimerOutputList(timMotorServoHardware_t * timOutputs, bool isMixerUsingServos);
 bool pwmMotorAndServoInit(void);
-// bool pwmMotorAndServoHotInit(timMotorServoHardware_t* timOutputs);
 const motorProtocolProperties_t * getMotorProtocolProperties(motorPwmProtocolTypes_e proto);
 pwmInitError_e getPwmInitError(void);
 const char * getPwmInitErrorMessage(void);
diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
@@ -113,10 +113,6 @@ static uint8_t commandsBuff[DHSOT_COMMAND_QUEUE_SIZE];
 static currentExecutingCommand_t currentExecutingCommand;
 #endif
 
-void resetAllocatedOutputPortCount(void){
-    allocatedOutputPortCount = 0;
-}
-
 static void pwmOutConfigTimer(pwmOutputPort_t * p, TCH_t * tch, uint32_t hz, uint16_t period, uint16_t value)
 {
     p->tch = tch;

diff --git a/src/main/drivers/pwm_output.h b/src/main/drivers/pwm_output.h
@@ -34,7 +34,6 @@ void pwmRequestMotorTelemetry(int motorIndex);
 
 ioTag_t pwmGetMotorPinTag(int motorIndex);
 
-void resetAllocatedOutputPortCount(void);
 void pwmWriteMotor(uint8_t index, uint16_t value);
 void pwmShutdownPulsesForAllMotors(uint8_t motorCount);
 void pwmCompleteMotorUpdate(void);

diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
@@ -81,7 +81,6 @@ bool cliMode = false;
 
 #include "flight/failsafe.h"
 #include "flight/imu.h"
-// #include "flight/mixer.h"
 #include "flight/mixer_profile.h"
 #include "flight/pid.h"
 #include "flight/servos.h"
@@ -283,7 +282,6 @@ typedef enum {
     DUMP_MASTER = (1 << 0),
     DUMP_PROFILE = (1 << 1),
     DUMP_BATTERY_PROFILE = (1 << 2),
-    // DUMP_RATES = (1 << 3),
     DUMP_MIXER_PROFILE = (1 << 3),
     DUMP_ALL = (1 << 4),
     DO_DIFF = (1 << 5),
@@ -1864,7 +1862,6 @@ 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);
         Reset_servoMixers(customServoMixersMutable(0));
     } else {
         enum {RULE = 0, TARGET, INPUT, RATE, SPEED, CONDITION, ARGS_COUNT};
@@ -3626,17 +3623,6 @@ static void printConfig(const char *cmdline, bool doDiff)
         }
 
         cliPrintHashLine("resources");
-        // printResource(dumpMask, &defaultConfig);
-
-        // cliPrintHashLine("mixer");
-        // cliDumpPrintLinef(dumpMask, primaryMotorMixer_CopyArray[0].throttle == 0.0f, "\r\nmmix reset\r\n");
-
-        // printMotorMix(dumpMask, primaryMotorMixer_CopyArray, primaryMotorMixer(0));
-
-        // print custom servo mixer if exists
-        // cliPrintHashLine("servo mixer");
-        // cliDumpPrintLinef(dumpMask, customServoMixers_CopyArray[0].rate == 0, "smix reset\r\n");
-        // printServoMix(dumpMask, customServoMixers_CopyArray, customServoMixers(0));
 
         // print servo parameters
         cliPrintHashLine("servo");
@@ -3720,34 +3706,39 @@ static void printConfig(const char *cmdline, bool doDiff)
             const int currentProfileIndexSave = getConfigProfile();
             const int currentBatteryProfileIndexSave = getConfigBatteryProfile();
             const int currentMixerProfileIndexSave = getConfigMixerProfile();
+            for (int ii = 0; ii < MAX_MIXER_PROFILE_COUNT; ++ii) {
+                cliDumpMixerProfile(ii, dumpMask);
+            }
             for (int ii = 0; ii < MAX_PROFILE_COUNT; ++ii) {
                 cliDumpProfile(ii, dumpMask);
             }
             for (int ii = 0; ii < MAX_BATTERY_PROFILE_COUNT; ++ii) {
                 cliDumpBatteryProfile(ii, dumpMask);
             }
-            for (int ii = 0; ii < MAX_MIXER_PROFILE_COUNT; ++ii) {
-                cliDumpMixerProfile(ii, dumpMask);
-            }
             setConfigProfile(currentProfileIndexSave);
             setConfigBatteryProfile(currentBatteryProfileIndexSave);
             setConfigMixerProfile(currentMixerProfileIndexSave);
 
             cliPrintHashLine("restore original profile selection");
-            cliPrintLinef("profile %d", currentProfileIndexSave + 1);
             cliPrintLinef("mixer_profile %d", currentMixerProfileIndexSave + 1);
+            cliPrintLinef("profile %d", currentProfileIndexSave + 1);
+            cliPrintLinef("battery_profile %d", currentBatteryProfileIndexSave + 1);
 
 #ifdef USE_CLI_BATCH
             batchModeEnabled = false;
 #endif
         } else {
             // dump just the current profiles
+            cliDumpMixerProfile(getConfigMixerProfile(), dumpMask);
             cliDumpProfile(getConfigProfile(), dumpMask);
             cliDumpBatteryProfile(getConfigBatteryProfile(), dumpMask);
-            cliDumpMixerProfile(getConfigMixerProfile(), dumpMask);
         }
     }
 
+    if (dumpMask & DUMP_MIXER_PROFILE) {
+        cliDumpMixerProfile(getConfigMixerProfile(), dumpMask);
+    }
+
     if (dumpMask & DUMP_PROFILE) {
         cliDumpProfile(getConfigProfile(), dumpMask);
     }
@@ -3756,10 +3747,6 @@ static void printConfig(const char *cmdline, bool doDiff)
         cliDumpBatteryProfile(getConfigBatteryProfile(), dumpMask);
     }
 
-    if (dumpMask & DUMP_MIXER_PROFILE) {
-        cliDumpMixerProfile(getConfigMixerProfile(), dumpMask);
-    }
-
     if ((dumpMask & DUMP_MASTER) || (dumpMask & DUMP_ALL)) {
         cliPrintHashLine("save configuration\r\nsave");
     }

diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
@@ -3132,7 +3132,6 @@ static bool mspSettingInfoCommand(sbuf_t *dst, sbuf_t *src)
         sbufWriteU8(dst, MAX_MIXER_PROFILE_COUNT);
         break;
     }
-
 
     // If the setting uses a table, send each possible string (null terminated)
     if (SETTING_MODE(setting) == MODE_LOOKUP) {

diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
@@ -83,34 +83,6 @@ PG_RESET_TEMPLATE(reversibleMotorsConfig_t, reversibleMotorsConfig,
     .deadband_high = SETTING_3D_DEADBAND_HIGH_DEFAULT,
     .neutral = SETTING_3D_NEUTRAL_DEFAULT
 );
-// PG_REGISTER_ARRAY_WITH_RESET_FN(mixerProfile_t, MAX_MIXER_PROFILE_COUNT, mixerProfiles, PG_MIXER_PROFILE, 1);
-
-// void pgResetFn_mixerProfiles(mixerProfile_t *instance)
-// {
-//     for (int i = 0; i < MAX_MIXER_PROFILE_COUNT; i++) {
-//         RESET_CONFIG(mixerProfile_t, &instance[i],
-//             .motorDirectionInverted = SETTING_MOTOR_DIRECTION_INVERTED_DEFAULT,
-//             .platformType = SETTING_PLATFORM_TYPE_DEFAULT,
-//             .hasFlaps = SETTING_HAS_FLAPS_DEFAULT,
-//             .appliedMixerPreset = SETTING_MODEL_PREVIEW_TYPE_DEFAULT, //This flag is not available in CLI and used by Configurator only
-//             .outputMode = SETTING_OUTPUT_MODE_DEFAULT,
-//         );
-//         motorMixer_t tmp_mixer = {.throttle=0,.roll=0,.pitch=0,.yaw=0};
-//         for (int j = 0; j < MAX_SUPPORTED_MOTORS; j++) {
-//             instance->MotorMixer[j] = tmp_mixer;
-//         }
-//     }
-// }
-
-// PG_REGISTER_WITH_RESET_TEMPLATE(mixerConfig_t, mixerConfig, PG_MIXER_PROFILE, 5);
-
-// PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
-//     .motorDirectionInverted = SETTING_MOTOR_DIRECTION_INVERTED_DEFAULT,
-//     .platformType = SETTING_PLATFORM_TYPE_DEFAULT,
-//     .hasFlaps = SETTING_HAS_FLAPS_DEFAULT,
-//     .appliedMixerPreset = SETTING_MODEL_PREVIEW_TYPE_DEFAULT, //This flag is not available in CLI and used by Configurator only
-//     .outputMode = SETTING_OUTPUT_MODE_DEFAULT,
-// );
 
 PG_REGISTER_WITH_RESET_TEMPLATE(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 9);
 
@@ -436,6 +408,7 @@ void FAST_CODE writeMotors(void)
         // We don't define USE_DSHOT
         motorValue = motor[i];
 #endif
+
         pwmWriteMotor(i, motorValue);
     }
 }

diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
@@ -25,7 +25,6 @@
 #define MAX_SUPPORTED_MOTORS 12
 #endif
 
-
 // Digital protocol has fixed values
 #define DSHOT_DISARM_COMMAND      0
 #define DSHOT_MIN_THROTTLE       48
@@ -63,8 +62,6 @@ typedef struct motorMixer_s {
     float yaw;
 } motorMixer_t;
 
-// PG_DECLARE_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, primaryMotorMixer);
-
 typedef struct mixerConfig_s {
     int8_t motorDirectionInverted;
     uint8_t platformType;
@@ -73,22 +70,6 @@ typedef struct mixerConfig_s {
     uint8_t outputMode;
 } mixerConfig_t;
 
-// typedef struct mixerProfile_s {
-//     int8_t motorDirectionInverted;
-//     uint8_t platformType;
-//     bool hasFlaps;
-//     int16_t appliedMixerPreset;
-//     uint8_t outputMode;
-//     motorMixer_t MotorMixer[MAX_SUPPORTED_MOTORS];
-// } mixerProfile_t;
-
-// PG_DECLARE_ARRAY(mixerProfile_t, MAX_MIXER_PROFILE_COUNT, mixerProfiles);
-// #define mixerConfig() mixerProfiles(systemConfig()->current_mixer_profile_index)
-// #define mixerConfigMutable() ((mixerProfile_t *)mixerConfig())
-// #define primaryMotorMixer(_index) (&((mixerConfig()->MotorMixer)[_index]))
-// #define primaryMotorMixerMutable(_index) ((motorMixer_t *)primaryMotorMixer(_index))
-// extern motorMixer_t primaryMotorMixer_CopyArray[12];
-
 typedef struct reversibleMotorsConfig_s {
     uint16_t deadband_low;                // min 3d value
     uint16_t deadband_high;               // max 3d value
@@ -142,8 +123,7 @@ void processServoAutotrim(const float dT);
 void processServoAutotrimMode(void);
 void processContinuousServoAutotrim(const float dT);
 void stopMotors(void);
-void stopAndDisableMotors(void);
 void stopPwmAllMotors(void);
 
 void loadPrimaryMotorMixer(void);
-bool areMotorsRunning(void);
+bool areMotorsRunning(void);