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SRV_Channel: change function to AP_Int16 

this also removes the old parameter conversion code used for when we
first added the SERVO parameters. This was needed for conversion from
Copter 3.4 and Plane 3.7
copter407
Andrew Tridgell 5 years ago committed by Randy Mackay
parent
8255517e3a
commit
1cbad0c86e
2 changed files with 10 additions and 176 deletions
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  1. 7
      libraries/SRV_Channel/SRV_Channel.h
  2. 179
      libraries/SRV_Channel/SRV_Channel_aux.cpp

7
libraries/SRV_Channel/SRV_Channel.h
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@ -241,7 +241,7 @@ private: @@ -241,7 +241,7 @@ private:
AP_Int16 servo_trim;
// reversal, following convention that 1 means reversed, 0 means normal
AP_Int8 reversed;
AP_Int8 function;
AP_Int16 function;
// a pending output value as PWM
uint16_t output_pwm;
@ -455,9 +455,8 @@ public: @@ -455,9 +455,8 @@ public:
return i<NUM_SERVO_CHANNELS?&channels[i]:nullptr;
}
// upgrade RC* parameters into SERVO* parameters
static bool upgrade_parameters(const uint8_t old_keys[14], uint16_t aux_channel_mask, RCMapper *rcmap);
static void upgrade_motors_servo(uint8_t ap_motors_key, uint8_t ap_motors_idx, uint8_t new_channel);
// SERVO* parameters
static void upgrade_parameters(void);
// given a zero-based motor channel, return the k_motor function for that channel
static SRV_Channel::Aux_servo_function_t get_motor_function(uint8_t channel) {

179
libraries/SRV_Channel/SRV_Channel_aux.cpp
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@ -711,181 +711,16 @@ void SRV_Channels::constrain_pwm(SRV_Channel::Aux_servo_function_t function) @@ -711,181 +711,16 @@ void SRV_Channels::constrain_pwm(SRV_Channel::Aux_servo_function_t function)
}
/*
upgrade RC* parameters into SERVO* parameters. This does the following:
upgrade SERVO* parameters. This does the following:
- copies MIN/MAX/TRIM values from old RC parameters into new RC* parameters and SERVO* parameters.
- copies RCn_FUNCTION to SERVOn_FUNCTION
- maps old RCn_REV to SERVOn_REVERSE and RCn_REVERSE
aux_channel_mask is a bitmask of which channels were RC_Channel_aux channels
Note that this code is highly dependent on the parameter indexing of
the old RC_Channel and RC_Channel_aux objects.
If rcmap is passed in then the vehicle code also wants functions for
the first 4 output channels to be remapped
We return true if an upgrade has been done. This allows the caller
to make any vehicle specific upgrades that may be needed
- update to 16 bit FUNCTION from AP_Int8
*/
bool SRV_Channels::upgrade_parameters(const uint8_t rc_keys[14], uint16_t aux_channel_mask, RCMapper *rcmap)
void SRV_Channels::upgrade_parameters(void)
{
// use SERVO16_FUNCTION as a marker to say that we have run the upgrade already
if (channels[15].function.configured_in_storage()) {
// upgrade already done
return false;
}
// old system had 14 RC channels
for (uint8_t i=0; i<14; i++) {
uint8_t k = rc_keys[i];
if (k == 0) {
// missing parameter. Some vehicle types didn't have all parameters
continue;
}
SRV_Channel &srv_chan = channels[i];
RC_Channel *rc_chan = rc().channel(i);
enum {
FLAG_NONE=0,
FLAG_IS_REVERSE=1,
FLAG_AUX_ONLY=2
};
const struct mapping {
uint8_t old_index;
AP_Param *new_srv_param;
AP_Param *new_rc_param;
enum ap_var_type type;
uint8_t flags;
} mapping[] = {
{ 0, &srv_chan.servo_min, &rc_chan->radio_min, AP_PARAM_INT16, FLAG_NONE },
{ 1, &srv_chan.servo_trim, &rc_chan->radio_trim, AP_PARAM_INT16, FLAG_NONE },
{ 2, &srv_chan.servo_max, &rc_chan->radio_max, AP_PARAM_INT16, FLAG_NONE },
{ 3, &srv_chan.reversed, &rc_chan->reversed, AP_PARAM_INT8, FLAG_IS_REVERSE },
{ 1, &srv_chan.function, nullptr, AP_PARAM_INT8, FLAG_AUX_ONLY },
};
bool is_aux = aux_channel_mask & (1U<<i);
for (uint8_t j=0; j<ARRAY_SIZE(mapping); j++) {
const struct mapping &m = mapping[j];
AP_Param::ConversionInfo info;
AP_Int8 v8;
AP_Int16 v16;
AP_Param *v = m.type == AP_PARAM_INT16?(AP_Param*)&v16:(AP_Param*)&v8;
bool aux_only = (m.flags & FLAG_AUX_ONLY)!=0;
if (!is_aux && aux_only) {
continue;
}
info.old_key = k;
info.type = m.type;
info.new_name = nullptr;
// if this was an aux channel we need to shift by 6 bits, but not for RCn_FUNCTION
info.old_group_element = (is_aux && !aux_only)?(m.old_index<<6):m.old_index;
if (!AP_Param::find_old_parameter(&info, v)) {
// the parameter wasn't set in the old eeprom
continue;
}
if (m.flags & FLAG_IS_REVERSE) {
// special mapping from RCn_REV to RCn_REVERSED
v8.set(v8.get() == -1?1:0);
}
if (!m.new_srv_param->configured_in_storage()) {
// not configured yet in new eeprom
if (m.type == AP_PARAM_INT16) {
((AP_Int16 *)m.new_srv_param)->set_and_save_ifchanged(v16.get());
} else {
((AP_Int8 *)m.new_srv_param)->set_and_save_ifchanged(v8.get());
}
}
if (m.new_rc_param && !m.new_rc_param->configured_in_storage()) {
// not configured yet in new eeprom
if (m.type == AP_PARAM_INT16) {
((AP_Int16 *)m.new_rc_param)->set_and_save_ifchanged(v16.get());
} else {
((AP_Int8 *)m.new_rc_param)->set_and_save_ifchanged(v8.get());
}
}
}
}
if (rcmap != nullptr) {
// we need to make the output functions from the rcmapped inputs
const int8_t func_map[4] = { channels[0].function.get(),
channels[1].function.get(),
channels[2].function.get(),
channels[3].function.get() };
const uint8_t map[4] = { rcmap->roll(), rcmap->pitch(), rcmap->throttle(), rcmap->yaw() };
for (uint8_t i=0; i<4; i++) {
uint8_t m = uint8_t(map[i]-1);
if (m != i && m < 4) {
channels[m].function.set_and_save_ifchanged(func_map[i]);
}
}
}
// mark the upgrade as having been done
channels[15].function.set_and_save(channels[15].function.get());
return true;
}
/*
Upgrade servo MIN/MAX/TRIM/REVERSE parameters for a single AP_Motors
RC_Channel servo from previous firmwares, setting the equivalent
parameter in the new SRV_Channels object
*/
void SRV_Channels::upgrade_motors_servo(uint8_t ap_motors_key, uint8_t ap_motors_idx, uint8_t new_channel)
{
SRV_Channel &srv_chan = channels[new_channel];
enum {
FLAG_NONE=0,
FLAG_IS_REVERSE=1
};
const struct mapping {
uint8_t old_index;
AP_Param *new_srv_param;
enum ap_var_type type;
uint8_t flags;
} mapping[] = {
{ 0, &srv_chan.servo_min, AP_PARAM_INT16, FLAG_NONE },
{ 1, &srv_chan.servo_trim, AP_PARAM_INT16, FLAG_NONE },
{ 2, &srv_chan.servo_max, AP_PARAM_INT16, FLAG_NONE },
{ 3, &srv_chan.reversed, AP_PARAM_INT8, FLAG_IS_REVERSE },
};
for (uint8_t j=0; j<ARRAY_SIZE(mapping); j++) {
const struct mapping &m = mapping[j];
AP_Param::ConversionInfo info;
AP_Int8 v8;
AP_Int16 v16;
AP_Param *v = m.type == AP_PARAM_INT16?(AP_Param*)&v16:(AP_Param*)&v8;
info.old_key = ap_motors_key;
info.type = m.type;
info.new_name = nullptr;
info.old_group_element = ap_motors_idx | (m.old_index<<6);
if (!AP_Param::find_old_parameter(&info, v)) {
// the parameter wasn't set in the old eeprom
continue;
}
if (m.flags & FLAG_IS_REVERSE) {
// special mapping from RCn_REV to RCn_REVERSED
v8.set(v8.get() == -1?1:0);
}
// we save even if there is already a value in the new eeprom,
// as that may come from the equivalent RC channel, not the
// old motor servo channel
if (m.type == AP_PARAM_INT16) {
((AP_Int16 *)m.new_srv_param)->set_and_save_ifchanged(v16.get());
} else {
((AP_Int8 *)m.new_srv_param)->set_and_save_ifchanged(v8.get());
}
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
SRV_Channel &c = channels[i];
// convert from AP_Int8 to AP_Int16
c.function.convert_parameter_width(AP_PARAM_INT8);
}
}

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