madflight_config

Author: qqqlab

examples/00.HelloWorld/madflight_config.h

@@ -1,21 +1,21 @@
 /*========================================================================================================================
-                                              MADFLIGHT CONFIG                                                          
+                                              MADFLIGHT CONFIG
 ==========================================================================================================================
 
-MADFLIGHT_CONFIG is a multi-line raw string in with a key-value list. Anything after '#' or '/' is ignored as comment.
+madflight_config is a multi-line raw string in with a key-value list. Anything after '#' or '/' is ignored as comment.
 
 You have 4 options to setup the pins (gpio numbers) and serial/spi/i2c busses for the flight controller:
 
   1) Default - #include <madflight_board.h> and see https://madflight.com for default pinout diagrams for the supported
      processor families. Default pinouts are defined in the board header files library/madflight/src/madflight_board_XXX.h
-     Leave lines with "pin_..." and "..._bus" commented in MADFLIGHT_CONFIG. 
+     Leave lines with "pin_..." and "..._bus" commented in madflight_config. 
  
   2) BetaFlight - #include the BetaFlight flight controller you want to use. See library/madflight/src for all available 
      boards. For example: #include <madflight_zzz_MTKS-MATEKH743.h>
 
-  3) Override - Keep #include <madflight_board.h>, and uncomment lines in MADFLIGHT_CONFIG to override the board settings.
+  3) Override - Keep #include <madflight_board.h>, and uncomment lines in madflight_config to override the board settings.
  
-  4) Custom - Remove #include <madflight_board.h>, and set the full configuration in MADFLIGHT_CONFIG below.
+  4) Bare Metal - Remove #include <madflight_board.h>, and set the full configuration in madflight_config below.
 
 Pins and busses use zero-based numbering, i.e. imu_spi_bus 0 is the first spi bus. Use -1 to disable a pin or bus.
 
@@ -28,7 +28,7 @@ If things do not work as expected, have a good look at the startup messages!
 
 #include <madflight_board.h>
 
-#define MADFLIGHT_CONFIG R""(
+const char* madflight_config = R""(
 
 //--- IMU --- Inertial Measurement Unit  (use spi -OR- i2c bus)
 imu_gizmo      MPU6500  // options: NONE, BMI270, MPU6000, MPU6050, MPU6500, MPU9150, MPU9250 
@@ -138,7 +138,7 @@ ahr_gizmo      MAHONY  // options: MAHONY, MAHONY_BF, MADGWICK, VQF
 //pin_out14     -1
 //pin_out15     -1
 
-)"" // End of MADFLIGHT_CONFIG
+)""; // End of madflight_config
 
 
 //========================================================================================================================//

examples/01.Quadcopter/madflight_config.h

@@ -1,21 +1,21 @@
 /*========================================================================================================================
-                                              MADFLIGHT CONFIG                                                          
+                                              MADFLIGHT CONFIG
 ==========================================================================================================================
 
-MADFLIGHT_CONFIG is a multi-line raw string in with a key-value list. Anything after '#' or '/' is ignored as comment.
+madflight_config is a multi-line raw string in with a key-value list. Anything after '#' or '/' is ignored as comment.
 
 You have 4 options to setup the pins (gpio numbers) and serial/spi/i2c busses for the flight controller:
 
   1) Default - #include <madflight_board.h> and see https://madflight.com for default pinout diagrams for the supported
      processor families. Default pinouts are defined in the board header files library/madflight/src/madflight_board_XXX.h
-     Leave lines with "pin_..." and "..._bus" commented in MADFLIGHT_CONFIG. 
+     Leave lines with "pin_..." and "..._bus" commented in madflight_config. 
  
   2) BetaFlight - #include the BetaFlight flight controller you want to use. See library/madflight/src for all available 
      boards. For example: #include <madflight_zzz_MTKS-MATEKH743.h>
 
-  3) Override - Keep #include <madflight_board.h>, and uncomment lines in MADFLIGHT_CONFIG to override the board settings.
+  3) Override - Keep #include <madflight_board.h>, and uncomment lines in madflight_config to override the board settings.
  
-  4) Custom - Remove #include <madflight_board.h>, and set the full configuration in MADFLIGHT_CONFIG below.
+  4) Bare Metal - Remove #include <madflight_board.h>, and set the full configuration in madflight_config below.
 
 Pins and busses use zero-based numbering, i.e. imu_spi_bus 0 is the first spi bus. Use -1 to disable a pin or bus.
 
@@ -28,7 +28,7 @@ If things do not work as expected, have a good look at the startup messages!
 
 #include <madflight_board.h>
 
-#define MADFLIGHT_CONFIG R""(
+const char* madflight_config = R""(
 
 //--- IMU --- Inertial Measurement Unit  (use spi -OR- i2c bus)
 imu_gizmo      MPU6500  // options: NONE, BMI270, MPU6000, MPU6050, MPU6500, MPU9150, MPU9250 
@@ -138,7 +138,7 @@ ahr_gizmo      MAHONY  // options: MAHONY, MAHONY_BF, MADGWICK, VQF
 //pin_out14     -1
 //pin_out15     -1
 
-)"" // End of MADFLIGHT_CONFIG
+)""; // End of madflight_config
 
 
 //========================================================================================================================//

examples/02.QuadcopterAdvanced/madflight_config.h

@@ -1,21 +1,21 @@
 /*========================================================================================================================
-                                              MADFLIGHT CONFIG                                                          
+                                              MADFLIGHT CONFIG
 ==========================================================================================================================
 
-MADFLIGHT_CONFIG is a multi-line raw string in with a key-value list. Anything after '#' or '/' is ignored as comment.
+madflight_config is a multi-line raw string in with a key-value list. Anything after '#' or '/' is ignored as comment.
 
 You have 4 options to setup the pins (gpio numbers) and serial/spi/i2c busses for the flight controller:
 
   1) Default - #include <madflight_board.h> and see https://madflight.com for default pinout diagrams for the supported
      processor families. Default pinouts are defined in the board header files library/madflight/src/madflight_board_XXX.h
-     Leave lines with "pin_..." and "..._bus" commented in MADFLIGHT_CONFIG. 
+     Leave lines with "pin_..." and "..._bus" commented in madflight_config. 
  
   2) BetaFlight - #include the BetaFlight flight controller you want to use. See library/madflight/src for all available 
      boards. For example: #include <madflight_zzz_MTKS-MATEKH743.h>
 
-  3) Override - Keep #include <madflight_board.h>, and uncomment lines in MADFLIGHT_CONFIG to override the board settings.
+  3) Override - Keep #include <madflight_board.h>, and uncomment lines in madflight_config to override the board settings.
  
-  4) Custom - Remove #include <madflight_board.h>, and set the full configuration in MADFLIGHT_CONFIG below.
+  4) Bare Metal - Remove #include <madflight_board.h>, and set the full configuration in madflight_config below.
 
 Pins and busses use zero-based numbering, i.e. imu_spi_bus 0 is the first spi bus. Use -1 to disable a pin or bus.
 
@@ -28,7 +28,7 @@ If things do not work as expected, have a good look at the startup messages!
 
 #include <madflight_board.h>
 
-#define MADFLIGHT_CONFIG R""(
+const char* madflight_config = R""(
 
 //--- IMU --- Inertial Measurement Unit  (use spi -OR- i2c bus)
 imu_gizmo      MPU6500  // options: NONE, BMI270, MPU6000, MPU6050, MPU6500, MPU9150, MPU9250 
@@ -138,7 +138,7 @@ ahr_gizmo      MAHONY  // options: MAHONY, MAHONY_BF, MADGWICK, VQF
 //pin_out14     -1
 //pin_out15     -1
 
-)"" // End of MADFLIGHT_CONFIG
+)""; // End of madflight_config
 
 
 //========================================================================================================================//

examples/03.Plane/madflight_config.h

@@ -1,21 +1,21 @@
 /*========================================================================================================================
-                                              MADFLIGHT CONFIG                                                          
+                                              MADFLIGHT CONFIG
 ==========================================================================================================================
 
-MADFLIGHT_CONFIG is a multi-line raw string in with a key-value list. Anything after '#' or '/' is ignored as comment.
+madflight_config is a multi-line raw string in with a key-value list. Anything after '#' or '/' is ignored as comment.
 
 You have 4 options to setup the pins (gpio numbers) and serial/spi/i2c busses for the flight controller:
 
   1) Default - #include <madflight_board.h> and see https://madflight.com for default pinout diagrams for the supported
      processor families. Default pinouts are defined in the board header files library/madflight/src/madflight_board_XXX.h
-     Leave lines with "pin_..." and "..._bus" commented in MADFLIGHT_CONFIG. 
+     Leave lines with "pin_..." and "..._bus" commented in madflight_config. 
  
   2) BetaFlight - #include the BetaFlight flight controller you want to use. See library/madflight/src for all available 
      boards. For example: #include <madflight_zzz_MTKS-MATEKH743.h>
 
-  3) Override - Keep #include <madflight_board.h>, and uncomment lines in MADFLIGHT_CONFIG to override the board settings.
+  3) Override - Keep #include <madflight_board.h>, and uncomment lines in madflight_config to override the board settings.
  
-  4) Custom - Remove #include <madflight_board.h>, and set the full configuration in MADFLIGHT_CONFIG below.
+  4) Bare Metal - Remove #include <madflight_board.h>, and set the full configuration in madflight_config below.
 
 Pins and busses use zero-based numbering, i.e. imu_spi_bus 0 is the first spi bus. Use -1 to disable a pin or bus.
 
@@ -28,7 +28,7 @@ If things do not work as expected, have a good look at the startup messages!
 
 #include <madflight_board.h>
 
-#define MADFLIGHT_CONFIG R""(
+const char* madflight_config = R""(
 
 //--- IMU --- Inertial Measurement Unit  (use spi -OR- i2c bus)
 imu_gizmo      MPU6500  // options: NONE, BMI270, MPU6000, MPU6050, MPU6500, MPU9150, MPU9250 
@@ -138,7 +138,7 @@ ahr_gizmo      MAHONY  // options: MAHONY, MAHONY_BF, MADGWICK, VQF
 //pin_out14     -1
 //pin_out15     -1
 
-)"" // End of MADFLIGHT_CONFIG
+)""; // End of madflight_config
 
 
 //========================================================================================================================//

extras/betaflight_target_converter/betaflight_target_converter.py

@@ -146,20 +146,21 @@ def fprint(txt) :
     fprint( "//copy this line to madflight.ino to use this flight controller" )
     fprint( "#include <" + outfilename + ">" )
     fprint( "" )
-    fprint( "Note: madflight will pick the last sensor defined here, this might not be the sensor that is actually on the board. Comment the offending sensors out." )
+    fprint( "Note: madflight will pick the last sensor defined here, this might not be the sensor that is actually on the board. Comment the offending sensors out, or use madflight_config to override." )
     fprint( "==============================================================================*/" )
 
     fprint( "" )
-    fprint( "#define HAL_BOARD_NAME \"BETAFLIGHT-" + strippedfilename + "\"" )
+    fprint( "#define MF_BOARD_NAME \"BETAFLIGHT-" + strippedfilename + "\"" )
     mcu_re = re.search(r"\bSTM32\w+", lines[0] + " " + lines[1]);
-    if mcu_re : fprint( "#define HAL_MCU \"" + mcu_re.group() + "\"" )
+    if mcu_re : fprint( "#define MF_MCU_NAME \"" + mcu_re.group() + "\"" )
 
     fprint( "" )
 
-    fprint( '#define MADFLIGHT_BOARD R""(' )
+    fprint( 'const char* madflight_board = R""(' )
+    fprint( 'imu_bus_type SPI' )  #all bf controllers use SPI
     for define in defines:
         fprint( define.strip() )
-    fprint( ')"" //end of MADFLIGHT_BOARD' )
+    fprint( ')""; //end of madflight_board' )
 
     fprint( "" )
     fprint( "" )

src/madflight.h

@@ -28,6 +28,12 @@ SOFTWARE.
 
 //#pragma once //don't use here, we want to get an error if this file is included twice
 
+//const char* madflight_config = "..."; should be defined before including this file
+
+#ifndef MF_BOARD_NAME
+  const char* madflight_board = nullptr;
+#endif
+
 // bus abstraction
 #include "madflight/hal/MF_Serial.h"
 #include "madflight/hal/MF_I2C.h"
@@ -67,14 +73,7 @@ void madflight_warn_or_die(String msg, bool die);
 // madflight_setup()
 //===============================================================================================
 
-// madflight config string by defines MADFLIGHT_BOARD, MADFLIGHT_CONFIG
-#ifndef MADFLIGHT_BOARD
-  #define MADFLIGHT_BOARD ""
-#endif
-#ifndef MADFLIGHT_CONFIG
-  #define MADFLIGHT_CONFIG ""
-#endif
-const char* madflight_config = MADFLIGHT_BOARD MADFLIGHT_CONFIG;
+
 
 // vehicle setup by defines VEH_TYPE, VEH_FLIGHTMODE_AP_IDS, VEH_FLIGHTMODE_NAMES
 #ifndef VEH_TYPE
@@ -105,12 +104,12 @@ void madflight_setup() {
 
   Serial.printf("Arduino library: " HAL_ARDUINO_STR "\n");
 
-  #ifdef HAL_BOARD_NAME
-    Serial.println("Board: " HAL_BOARD_NAME);
+  #ifdef MF_BOARD_NAME
+    Serial.println("Board: " MF_BOARD_NAME);
   #endif
 
-  #ifdef HAL_MCU
-    Serial.println("Processor: " HAL_MCU);
+  #ifdef MF_MCU_NAME
+    Serial.println("Processor: " MF_MCU_NAME);
   #endif
 
   // CFG - Configuration parameters
@@ -121,13 +120,7 @@ void madflight_setup() {
     madflight_die("Config cleared. comment out '#define MF_CONFIG_CLEAR' and upload again.");
   #endif
   cfg.loadFromEeprom(); //load parameters from EEPROM
-  if(madflight_config) {
-    if(cfg.load_madflight_param(madflight_config)) {
-      Serial.println("CFG: Loading MADFLIGHT_CONFIG - OK");
-    }else{
-      Serial.println("CFG: Loading MADFLIGHT_CONFIG - Skipped (EEPROM is newer than MADFLIGHT_CONFIG)");
-    }
-  }
+  cfg.load_madflight(madflight_board, madflight_config); //load config
 
   #ifdef MF_DEBUG
     if(madflight_config) {
@@ -152,6 +145,7 @@ void madflight_setup() {
 
   cli.print_i2cScan(); //print i2c scan
 
+  // RCL - Radio Control Link
   rcl.config.gizmo = (Cfg::rcl_gizmo_enum)cfg.rcl_gizmo; //the gizmo to use
   rcl.config.ser_bus_id = cfg.rcl_ser_bus; //serial bus id
   rcl.config.baud = cfg.rcl_baud; //baud rate

src/madflight/cfg/cfg.cpp

@@ -406,13 +406,34 @@ void CfgClass::loadFromString(const char *batch) {
   }
 }
 
-//load text if crc is different, returns true when loaded
-bool CfgClass::load_madflight_param(const char *batch) {
-  uint32_t crc = tbx_crc32((const uint8_t*)batch, strlen(batch));
-  if(hdr.madflight_param_crc == crc) return false; //the parameters were already applied (and potentially modified since, so do not re-apply)
-  loadFromString(batch);
+void CfgClass::load_madflight(const char *board, const char *config) {
+  //calc crc
+  uint32_t crc = 0xFFFFFFFF;
+  if(board) crc = tbx_crc32((const uint8_t*)board, strlen(board), crc);
+  if(config) crc = tbx_crc32((const uint8_t*)config, strlen(config), crc);
+
+  //check board+config crc against board+config crc stored in eeprom
+  if(hdr.madflight_param_crc == crc) {
+    //the board+config parameters were already applied (and potentially modified since, so do not re-apply)
+    Serial.println("CFG: Skipping madflight_board + madflight_config (EEPROM is newer)");
+    return;
+  }
+
+  //load board + config
+  Serial.print("CFG: ");
+  if(board) {
+    loadFromString(board);
+    Serial.print("Loading madflight_board, ");
+  }else{
+    Serial.print("madflight_board is empty, ");
+  }
+  if(config) {
+    loadFromString(config);
+    Serial.println("loading madflight_config");
+  }else{
+    Serial.println("madflight_config is empty");
+  }
   hdr.madflight_param_crc = crc; //save crc (and write it to eeprom with next CLI cwrite)
-  return true;
 }
 
 //returns true on success

src/madflight/cfg/cfg.h

@@ -314,7 +314,7 @@ class CfgClass : public CfgParam {
   void clear(); //load defaults from param_list
   void loadFromEeprom(); //read parameters from eeprom/flash
   void loadFromString(const char *batch); //load text unconditional
-  bool load_madflight_param(const char *batch); //load text if crc is different, returns true when loaded
+  void load_madflight(const char *board, const char *config); //load board+config if crc is different
   void writeToEeprom(); //write config to flash
   float getValue(String namestr, float default_value);
 

src/madflight/hal/ESP32/hal_ESP32_cpp.h

@@ -13,6 +13,16 @@
 #define mf_df2str(s)               mf_df2xstr(s)
 #define HAL_ARDUINO_STR "Arduino-ESP32 v" mf_df2str(ESP_ARDUINO_VERSION_MAJOR) "." mf_df2str(ESP_ARDUINO_VERSION_MINOR) "." mf_df2str(ESP_ARDUINO_VERSION_PATCH)
 
+#ifndef MF_MCU_NAME
+  #ifdef CONFIG_IDF_TARGET_ESP32S3
+    #define MF_MCU_NAME "ESP32-S3"
+  #elif defined CONFIG_IDF_TARGET_ESP32
+    #define MF_MCU_NAME "ESP32"
+  #else
+    #define MF_MCU_NAME "ESP32 (unsupported type)"
+  #endif
+#endif
+
 //======================================================================================================================//
 //                    IMU
 //======================================================================================================================//

src/madflight/hal/RP2040/hal_RP2040_cpp.h

@@ -1,11 +1,11 @@
 //Arduino version string
 #define HAL_ARDUINO_STR "Arduino-Pico v" ARDUINO_PICO_VERSION_STR 
 
-#ifndef HAL_MCU
+#ifndef MF_MCU_NAME
   #ifdef PICO_RP2350
-    #define HAL_MCU "RP2350"
+    #define MF_MCU_NAME "RP2350"
   #else
-    #define HAL_MCU "RP2040"
+    #define MF_MCU_NAME "RP2040"
   #endif
 #endif