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Flash on Beep doesn't beep on Keys / Trims

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TH% not inverted when throttle stick inverted
Rotary Encoders as Mixer Sources on v4 board
Pulses on ersky9x board port
Telemetry on ersky9x board port
This commit is contained in:
bsongis
2012-04-02 17:31:40 +00:00
parent b31b040903
commit 01d05d7d96
28 changed files with 1301 additions and 371 deletions
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src/open9x.cpp
+80 -40
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@@ -50,8 +50,10 @@ gtime_t g_unixTime; // Global date/time register, incremented each second in per
EEGeneral g_eeGeneral;
ModelData g_model;
#if !defined(PCBARM)
uint8_t g_tmr1Latency_max;
uint8_t g_tmr1Latency_min;
uint8_t g_tmr1Latency_min;
#endif
uint16_t g_timeMain;
#ifdef DEBUG
uint16_t g_time_per10;
@@ -392,11 +394,15 @@ int16_t ex_chans[NUM_CHNOUT] = {0}; // Outputs (before LIMITS) of the last perMa
#ifdef HELI
int16_t cyc_anas[3] = {0};
#endif
int16_t getValue(uint8_t i)
{
/*srcRaw is shifted +1!*/
if(i<NUM_STICKS+NUM_POTS) return calibratedStick[i];
#if defined(PCBV4)
else if(i<NUM_STICKS+NUM_POTS+NUM_ROTARY_ENCODERS) return getRotaryEncoder(i-(NUM_STICKS+NUM_POTS));
#endif
else if(i<MIXSRC_MAX) return 1024;
else if(i<MIXSRC_3POS) return (keyState(SW_ID0) ? -1024 : (keyState(SW_ID1) ? 0 : 1024));
else if(i<MIXSRC_3POS+3)
@@ -615,6 +621,35 @@ uint8_t getTrimFlightPhase(uint8_t phase, uint8_t idx)
return 0;
}
#if defined(PCBV4)
uint8_t s_perOut_flight_phase;
uint8_t getRotaryEncoderFlightPhase(uint8_t idx)
{
uint8_t phase = s_perOut_flight_phase;
for (uint8_t i=0; i<MAX_PHASES; i++) {
if (phase == 0) return 0;
int16_t value = phaseaddress(phase)->rotaryEncoders[idx];
if (value <= ROTARY_ENCODER_MAX) return phase;
uint8_t result = value-ROTARY_ENCODER_MAX-1;
if (result >= phase) result++;
phase = result;
}
return 0;
}
int16_t getRotaryEncoder(uint8_t idx)
{
return phaseaddress(getRotaryEncoderFlightPhase(idx))->rotaryEncoders[idx];
}
void incRotaryEncoder(uint8_t idx, int8_t inc)
{
phaseaddress(getRotaryEncoderFlightPhase(idx))->rotaryEncoders[idx] += inc;
}
#endif
void clearKeyEvents()
{
#ifdef SIMU
@@ -674,6 +709,8 @@ void doSplash()
if(keyDown() || (tsum!=inacSum)) return; //wait for key release
if (check_power()) return; // Usb on or power off
checkBacklight();
}
}
@@ -785,11 +822,9 @@ void alert(const pm_char * s)
sleep(1/*ms*/);
#endif
#if defined(PCBARM)
if (check_power()) return; // Usb on or power off
#endif
if(keyDown()) return; // wait for key release
if (keyDown()) return; // wait for key release
checkBacklight();
@@ -909,6 +944,10 @@ uint16_t anaIn(uint8_t chan)
// Google Translate (German): // if table already, then it must also be worthwhile
#if defined(PCBARM)
static const uint8_t crossAna[]={1,5,7,0,4,6,2,3,8};
if ( chan == 8 ) {
return Current_analogue ;
}
#else
static const pm_char crossAna[] PROGMEM ={3,1,2,0,4,5,6,7};
#endif
@@ -1194,11 +1233,16 @@ uint8_t evalSticks(uint8_t phase)
}
#endif
for (uint8_t i=0; i<NUM_STICKS+NUM_POTS; i++) {
for (uint8_t i=0; i<NUM_STICKS+NUM_POTS+NUM_ROTARY_ENCODERS; i++) {
// normalization [0..2048] -> [-1024..1024]
uint8_t ch = (i < NUM_STICKS ? CONVERT_MODE(i+1) - 1 : i);
#if defined(PCBV4)
int16_t v = ((i < NUM_STICKS+NUM_POTS) ? anaIn(i) : getRotaryEncoder(i-(NUM_STICKS+NUM_POTS)));
#else
int16_t v = anaIn(i);
#endif
#ifndef SIMU
v -= g_eeGeneral.calibMid[i];
@@ -1213,7 +1257,9 @@ uint8_t evalSticks(uint8_t phase)
if (g_eeGeneral.throttleReversed && ch==THR_STICK)
v = -v;
calibratedStick[ch] = v; //for show in expo
if (i < NUM_STICKS+NUM_POTS)
calibratedStick[ch] = v; //for show in expo
uint8_t tmp = (uint16_t)abs(v) / 16;
if (tmp <= 1) anaCenter |= (tmp==0 ? 1<<ch : bpanaCenter & (1<<ch));
@@ -1338,6 +1384,10 @@ void evalFunctions()
void perOut(uint8_t phase)
{
#if defined(PCBV4)
s_perOut_flight_phase = phase;
#endif
uint8_t anaCenter = evalSticks(phase);
if (s_perout_mode == e_perout_mode_normal) {
@@ -1595,11 +1645,6 @@ char userDataDisplayBuf[TELEM_SCREEN_BUFFER_SIZE];
#define TIME_TO_WRITE s_eeDirtyMsk
#endif
void checkFlashOnBeep()
{
if(g_eeGeneral.flashBeep) g_LightOffCounter = FLASH_DURATION;
}
int32_t sum_chans512[NUM_CHNOUT] = {0};
void perMain()
{
@@ -1691,19 +1736,19 @@ void perMain()
if (!tick10ms) return; //make sure the rest happen only every 10ms.
uint16_t val;
int16_t val;
if (g_model.thrTraceSrc == 0) {
val = calibratedStick[THR_STICK]; // get throttle channel value
val = (g_eeGeneral.throttleReversed ? RESX-val : val+RESX);
}
else if (g_model.thrTraceSrc > NUM_POTS) {
val = RESX + g_chans512[g_model.thrTraceSrc-NUM_POTS-1];
val = g_chans512[g_model.thrTraceSrc-NUM_POTS-1];
}
else {
val = RESX + calibratedStick[g_model.thrTraceSrc+NUM_STICKS-1];
val = calibratedStick[g_model.thrTraceSrc+NUM_STICKS-1];
}
val += RESX;
val /= (RESX/16); // calibrate it
// Throttle trace start
@@ -1916,7 +1961,7 @@ void perMain()
uint8_t evt = getEvent();
evt = checkTrim(evt);
// TODO port lightOnStickMove from er9x
// TODO port lightOnStickMove from er9x + flash saving, call checkBacklight()
if(g_LightOffCounter) g_LightOffCounter--;
if(evt) g_LightOffCounter = g_eeGeneral.lightAutoOff*500; // on keypress turn the light on 5*100
@@ -1925,6 +1970,10 @@ void perMain()
else
BACKLIGHT_OFF;
#if defined(PCBARM) && defined(FRSKY)
check_frsky();
#endif
g_menuStack[g_menuStackPtr](evt);
refreshDisplay();
@@ -2159,8 +2208,10 @@ extern uint16_t g_timeMain;
USART0 Transmit Data Register Emtpy ISR
Used to transmit FrSky data packets and DSM2 protocol
*/
// TODO serial_arm and serial_avr
#if defined (FRSKY)
#if defined (FRSKY) && !defined(PCBARM)
FORCEINLINE void FRSKY_USART0_vect()
{
if (frskyTxBufferCount > 0) {
@@ -2172,7 +2223,7 @@ FORCEINLINE void FRSKY_USART0_vect()
}
#endif
#if defined (DSM2_SERIAL)
#if defined (DSM2_SERIAL) && !defined(PCBARM)
FORCEINLINE void DSM2_USART0_vect()
{
UDR0 = *((uint16_t*)pulses2MHzRPtr);
@@ -2184,7 +2235,7 @@ FORCEINLINE void DSM2_USART0_vect()
}
#endif
#ifndef SIMU
#if !defined(SIMU) && !defined(PCBARM)
#if defined (FRSKY) or defined(DSM2_SERIAL)
ISR(USART0_UDRE_vect)
{
@@ -2305,23 +2356,23 @@ volatile uint8_t g_rotenc[2] = {0};
ISR(INT2_vect)
{
uint8_t input = PIND & 0b00001100;
if (input == 0 || input == 0b00001100) g_rotenc[0]--;
if (input == 0 || input == 0b00001100) incRotaryEncoder(0, -1);
}
ISR(INT3_vect)
{
uint8_t input = PIND & 0b00001100;
if (input == 0 || input == 0b00001100) g_rotenc[0]++;
if (input == 0 || input == 0b00001100) incRotaryEncoder(0, +1);
}
ISR(INT5_vect)
{
uint8_t input = PINE & 0b01100000;
if (input == 0 || input == 0b01100000) g_rotenc[1]++;
if (input == 0 || input == 0b01100000) incRotaryEncoder(1, +1);
}
ISR(INT6_vect)
{
uint8_t input = PINE & 0b01100000;
if (input == 0 || input == 0b01100000) g_rotenc[1]--;
if (input == 0 || input == 0b01100000) incRotaryEncoder(1, -1);
}
#endif
@@ -2474,21 +2525,16 @@ int main(void)
TCCR4B = (1 << WGM42) | (3<<CS40); // CTC OCR1A, 16MHz / 64 (4us ticks)
#endif
#if !defined(PCBARM)
startPulses();
#endif
// TODO init_main_ppm( 3000, 1 ) ; // Default for now, initial period 1.5 mS, output on
#if defined(PCBARM)
start_ppm_capture();
// TODO inside startPulses?
#endif
// FrSky testing serial receive
// TODO startPdcUsartReceive() ;
startPulses();
wdt_enable(WDTO_500MS);
if (check_power() != e_power_usb) {
wdt_enable(WDTO_500MS);
}
#if defined(PCBARM)
register uint32_t shutdown_state = 0;
@@ -2554,6 +2600,8 @@ int main(void)
lcd_clear() ;
displayPopup(STR_SHUTDOWN);
eeCheck(true);
soft_power_off(); // Only turn power off if necessary
#endif
#if defined(PCBARM)
if (shutdown_state == e_power_usb) {
@@ -2564,14 +2612,6 @@ int main(void)
refreshDisplay() ;
usb_mode();
}
#ifdef REVB
else
#endif
#endif
{
soft_power_off(); // Only turn power off if necessary
}
#endif
}