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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
zr-v5.1
Andrew Tridgell 5 years ago
parent
7ef86c9bb1
commit
4f3725c16c
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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@ -236,7 +236,7 @@ private: @@ -236,7 +236,7 @@ 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;
@ -445,9 +445,8 @@ public: @@ -445,9 +445,8 @@ 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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@ -715,181 +715,16 @@ void SRV_Channels::constrain_pwm(SRV_Channel::Aux_servo_function_t function) @@ -715,181 +715,16 @@ 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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