piotr/edgetx-gx12
1
0
Fork 0
Code Issues 2 Pull Requests Actions Packages Projects Releases Wiki Activity

Slow / Delays were broken!

Browse Source 
Some variables renamed
This commit is contained in:
bsongis
2012-06-26 19:09:10 +00:00
parent d69af0cafc
commit 03e89f382e
6 changed files with 222 additions and 215 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/frsky.cpp
+153 -143
View File
@@ -116,36 +116,36 @@ uint8_t frskyGetUserData(char *buffer, uint8_t bufSize)
#ifdef FRSKY_HUB
inline void getGpsPilotPosition()
{
frskyData.frskyHubData.pilotLatitude = ((uint32_t)(frskyData.frskyHubData.gpsLatitude_bp / 100) * 1000000) + (((uint32_t)(frskyData.frskyHubData.gpsLatitude_bp % 100) * 10000 + frskyData.frskyHubData.gpsLatitude_ap) * 5) / 3;
frskyData.frskyHubData.pilotLongitude = ((uint32_t)(frskyData.frskyHubData.gpsLongitude_bp / 100) * 1000000) + (((uint32_t)(frskyData.frskyHubData.gpsLongitude_bp % 100) * 10000 + frskyData.frskyHubData.gpsLongitude_ap) * 5) / 3;
uint32_t lat = (uint32_t)(frskyData.frskyHubData.gpsLatitude_bp / 100) * 100 + ((uint32_t)(frskyData.frskyHubData.gpsLatitude_bp % 100) * 5) / 3;
frskyData.hub.pilotLatitude = ((uint32_t)(frskyData.hub.gpsLatitude_bp / 100) * 1000000) + (((uint32_t)(frskyData.hub.gpsLatitude_bp % 100) * 10000 + frskyData.hub.gpsLatitude_ap) * 5) / 3;
frskyData.hub.pilotLongitude = ((uint32_t)(frskyData.hub.gpsLongitude_bp / 100) * 1000000) + (((uint32_t)(frskyData.hub.gpsLongitude_bp % 100) * 10000 + frskyData.hub.gpsLongitude_ap) * 5) / 3;
uint32_t lat = (uint32_t)(frskyData.hub.gpsLatitude_bp / 100) * 100 + ((uint32_t)(frskyData.hub.gpsLatitude_bp % 100) * 5) / 3;
uint32_t angle2 = (lat*lat) / 10000;
uint32_t angle4 = angle2 * angle2;
frskyData.frskyHubData.distFromEarthAxis = 139*(((uint32_t)10000000-((angle2*(uint32_t)123370)/81)+(angle4/25))/12500);
// printf("frskyData.frskyHubData.distFromEarthAxis=%d\n", frskyData.frskyHubData.distFromEarthAxis); fflush(stdout);
frskyData.hub.distFromEarthAxis = 139*(((uint32_t)10000000-((angle2*(uint32_t)123370)/81)+(angle4/25))/12500);
// printf("frskyData.hub.distFromEarthAxis=%d\n", frskyData.hub.distFromEarthAxis); fflush(stdout);
}
inline void getGpsDistance()
{
uint32_t lat = ((uint32_t)(frskyData.frskyHubData.gpsLatitude_bp / 100) * 1000000) + (((uint32_t)(frskyData.frskyHubData.gpsLatitude_bp % 100) * 10000 + frskyData.frskyHubData.gpsLatitude_ap) * 5) / 3;
uint32_t lng = ((uint32_t)(frskyData.frskyHubData.gpsLongitude_bp / 100) * 1000000) + (((uint32_t)(frskyData.frskyHubData.gpsLongitude_bp % 100) * 10000 + frskyData.frskyHubData.gpsLongitude_ap) * 5) / 3;
uint32_t lat = ((uint32_t)(frskyData.hub.gpsLatitude_bp / 100) * 1000000) + (((uint32_t)(frskyData.hub.gpsLatitude_bp % 100) * 10000 + frskyData.hub.gpsLatitude_ap) * 5) / 3;
uint32_t lng = ((uint32_t)(frskyData.hub.gpsLongitude_bp / 100) * 1000000) + (((uint32_t)(frskyData.hub.gpsLongitude_bp % 100) * 10000 + frskyData.hub.gpsLongitude_ap) * 5) / 3;
// printf("lat=%d (%d), long=%d (%d)\n", lat, abs(lat - frskyData.frskyHubData.pilotLatitude), lng, abs(lng - frskyData.frskyHubData.pilotLongitude));
// printf("lat=%d (%d), long=%d (%d)\n", lat, abs(lat - frskyData.hub.pilotLatitude), lng, abs(lng - frskyData.hub.pilotLongitude));
uint32_t angle = (lat > frskyData.frskyHubData.pilotLatitude) ? lat - frskyData.frskyHubData.pilotLatitude : frskyData.frskyHubData.pilotLatitude - lat;
uint32_t angle = (lat > frskyData.hub.pilotLatitude) ? lat - frskyData.hub.pilotLatitude : frskyData.hub.pilotLatitude - lat;
uint32_t dist = EARTH_RADIUS * angle / 1000000;
uint32_t result = dist*dist;
angle = (lng > frskyData.frskyHubData.pilotLongitude) ? lng - frskyData.frskyHubData.pilotLongitude : frskyData.frskyHubData.pilotLongitude - lng;
dist = frskyData.frskyHubData.distFromEarthAxis * angle / 1000000;
angle = (lng > frskyData.hub.pilotLongitude) ? lng - frskyData.hub.pilotLongitude : frskyData.hub.pilotLongitude - lng;
dist = frskyData.hub.distFromEarthAxis * angle / 1000000;
result += dist*dist;
dist = abs(frskyData.frskyHubData.baroAltitudeOffset ? frskyData.frskyHubData.baroAltitude_bp : frskyData.frskyHubData.gpsAltitude_bp);
dist = abs(frskyData.hub.baroAltitudeOffset ? frskyData.hub.baroAltitude_bp : frskyData.hub.gpsAltitude_bp);
result += dist*dist;
frskyData.frskyHubData.gpsDistance = isqrt32(result);
if (frskyData.frskyHubData.gpsDistance > frskyData.frskyHubData.maxGpsDistance)
frskyData.frskyHubData.maxGpsDistance = frskyData.frskyHubData.gpsDistance;
frskyData.hub.gpsDistance = isqrt32(result);
if (frskyData.hub.gpsDistance > frskyData.hub.maxGpsDistance)
frskyData.hub.maxGpsDistance = frskyData.hub.gpsDistance;
}
typedef enum {
@@ -165,23 +165,23 @@ void evalVario(int16_t altitude_bp, uint16_t altitude_ap)
{
#if defined(VARIO)
int32_t varioAltitude_cm = (int32_t)altitude_bp * 100 + (altitude_bp > 0 ? altitude_ap : -altitude_ap);
uint8_t varioAltitudeQueuePointer = frskyData.frskyHubData.varioAltitudeQueuePointer + 1;
uint8_t varioAltitudeQueuePointer = frskyData.hub.varioAltitudeQueuePointer + 1;
if (varioAltitudeQueuePointer == VARIO_QUEUE_LENGTH)
varioAltitudeQueuePointer = 0;
frskyData.frskyHubData.varioAltitudeQueuePointer = varioAltitudeQueuePointer;
frskyData.frskyHubData.varioSpeed -= frskyData.frskyHubData.varioAltitudeQueue[varioAltitudeQueuePointer] ;
frskyData.frskyHubData.varioAltitudeQueue[varioAltitudeQueuePointer] = varioAltitude_cm - frskyData.frskyHubData.varioAltitude_cm;
frskyData.frskyHubData.varioAltitude_cm = varioAltitude_cm;
frskyData.frskyHubData.varioSpeed += frskyData.frskyHubData.varioAltitudeQueue[varioAltitudeQueuePointer] ;
frskyData.hub.varioAltitudeQueuePointer = varioAltitudeQueuePointer;
frskyData.hub.varioSpeed -= frskyData.hub.varioAltitudeQueue[varioAltitudeQueuePointer] ;
frskyData.hub.varioAltitudeQueue[varioAltitudeQueuePointer] = varioAltitude_cm - frskyData.hub.varioAltitude_cm;
frskyData.hub.varioAltitude_cm = varioAltitude_cm;
frskyData.hub.varioSpeed += frskyData.hub.varioAltitudeQueue[varioAltitudeQueuePointer] ;
#endif
}
void checkMinMaxAltitude()
{
if (frskyData.frskyHubData.baroAltitude_bp > frskyData.frskyHubData.maxAltitude)
frskyData.frskyHubData.maxAltitude = frskyData.frskyHubData.baroAltitude_bp;
if (frskyData.frskyHubData.baroAltitude_bp < frskyData.frskyHubData.minAltitude)
frskyData.frskyHubData.minAltitude = frskyData.frskyHubData.baroAltitude_bp;
if (frskyData.hub.baroAltitude_bp > frskyData.hub.maxAltitude)
frskyData.hub.maxAltitude = frskyData.hub.baroAltitude_bp;
if (frskyData.hub.baroAltitude_bp < frskyData.hub.minAltitude)
frskyData.hub.minAltitude = frskyData.hub.baroAltitude_bp;
}
void parseTelemHubByte(uint8_t byte)
@@ -225,119 +225,119 @@ void parseTelemHubByte(uint8_t byte)
if ((uint8_t)structPos == offsetof(FrskyHubData, gpsLatitude_bp)) {
if (lowByte || byte)
frskyData.frskyHubData.gpsFix = 1;
else if (frskyData.frskyHubData.gpsFix > 0 && frskyData.frskyHubData.gpsLatitude_bp > 1)
frskyData.frskyHubData.gpsFix = 0;
frskyData.hub.gpsFix = 1;
else if (frskyData.hub.gpsFix > 0 && frskyData.hub.gpsLatitude_bp > 1)
frskyData.hub.gpsFix = 0;
}
else if ((uint8_t)structPos == offsetof(FrskyHubData, gpsLongitude_bp)) {
if (lowByte || byte)
frskyData.frskyHubData.gpsFix = 1;
else if (frskyData.frskyHubData.gpsFix > 0 && frskyData.frskyHubData.gpsLongitude_bp > 1)
frskyData.frskyHubData.gpsFix = 0;
frskyData.hub.gpsFix = 1;
else if (frskyData.hub.gpsFix > 0 && frskyData.hub.gpsLongitude_bp > 1)
frskyData.hub.gpsFix = 0;
}
if ((uint8_t)structPos == offsetof(FrskyHubData, gpsAltitude_bp) ||
((uint8_t)structPos >= offsetof(FrskyHubData, gpsAltitude_ap) && (uint8_t)structPos <= offsetof(FrskyHubData, gpsLatitudeNS) && (uint8_t)structPos != offsetof(FrskyHubData, baroAltitude_bp) && (uint8_t)structPos != offsetof(FrskyHubData, baroAltitude_ap))) {
// If we don't have a fix, we may discard the value
if (frskyData.frskyHubData.gpsFix <= 0)
if (frskyData.hub.gpsFix <= 0)
return;
}
((uint8_t*)&frskyData.frskyHubData)[structPos] = lowByte;
((uint8_t*)&frskyData.frskyHubData)[structPos+1] = byte;
((uint8_t*)&frskyData.hub)[structPos] = lowByte;
((uint8_t*)&frskyData.hub)[structPos+1] = byte;
switch ((uint8_t)structPos) {
case offsetof(FrskyHubData, rpm):
frskyData.frskyHubData.rpm *= (uint8_t)60/(g_model.frsky.blades+2);
if (frskyData.frskyHubData.rpm > frskyData.frskyHubData.maxRpm)
frskyData.frskyHubData.maxRpm = frskyData.frskyHubData.rpm;
frskyData.hub.rpm *= (uint8_t)60/(g_model.frsky.blades+2);
if (frskyData.hub.rpm > frskyData.hub.maxRpm)
frskyData.hub.maxRpm = frskyData.hub.rpm;
break;
case offsetof(FrskyHubData, temperature1):
if (frskyData.frskyHubData.temperature1 > frskyData.frskyHubData.maxTemperature1)
frskyData.frskyHubData.maxTemperature1 = frskyData.frskyHubData.temperature1;
if (frskyData.hub.temperature1 > frskyData.hub.maxTemperature1)
frskyData.hub.maxTemperature1 = frskyData.hub.temperature1;
break;
case offsetof(FrskyHubData, temperature2):
if (frskyData.frskyHubData.temperature2 > frskyData.frskyHubData.maxTemperature2)
frskyData.frskyHubData.maxTemperature2 = frskyData.frskyHubData.temperature2;
if (frskyData.hub.temperature2 > frskyData.hub.maxTemperature2)
frskyData.hub.maxTemperature2 = frskyData.hub.temperature2;
break;
case offsetof(FrskyHubData, current):
if (frskyData.frskyHubData.current > frskyData.frskyHubData.maxCurrent)
frskyData.frskyHubData.maxCurrent = frskyData.frskyHubData.current;
if (frskyData.hub.current > frskyData.hub.maxCurrent)
frskyData.hub.maxCurrent = frskyData.hub.current;
break;
case offsetof(FrskyHubData, baroAltitude_bp):
// First received barometer altitude => Altitude offset
if (!frskyData.frskyHubData.baroAltitudeOffset)
frskyData.frskyHubData.baroAltitudeOffset = -frskyData.frskyHubData.baroAltitude_bp;
if (!frskyData.hub.baroAltitudeOffset)
frskyData.hub.baroAltitudeOffset = -frskyData.hub.baroAltitude_bp;
if (g_model.varioSource == VARIO_SOURCE_BARO_V1) {
evalVario(frskyData.frskyHubData.baroAltitude_bp, 0);
evalVario(frskyData.hub.baroAltitude_bp, 0);
}
frskyData.frskyHubData.baroAltitude_bp += frskyData.frskyHubData.baroAltitudeOffset;
frskyData.hub.baroAltitude_bp += frskyData.hub.baroAltitudeOffset;
checkMinMaxAltitude();
break;
case offsetof(FrskyHubData, baroAltitude_ap):
if (g_model.varioSource == VARIO_SOURCE_BARO_V2) {
evalVario(frskyData.frskyHubData.baroAltitude_bp-frskyData.frskyHubData.baroAltitudeOffset, frskyData.frskyHubData.baroAltitude_ap);
evalVario(frskyData.hub.baroAltitude_bp-frskyData.hub.baroAltitudeOffset, frskyData.hub.baroAltitude_ap);
}
break;
case offsetof(FrskyHubData, gpsAltitude_ap):
if (!frskyData.frskyHubData.gpsAltitudeOffset)
frskyData.frskyHubData.gpsAltitudeOffset = -frskyData.frskyHubData.gpsAltitude_bp;
frskyData.frskyHubData.gpsAltitude_bp += frskyData.frskyHubData.gpsAltitudeOffset;
if (!frskyData.frskyHubData.baroAltitudeOffset) {
if (frskyData.frskyHubData.gpsAltitude_bp > frskyData.frskyHubData.maxAltitude)
frskyData.frskyHubData.maxAltitude = frskyData.frskyHubData.gpsAltitude_bp;
if (frskyData.frskyHubData.gpsAltitude_bp < frskyData.frskyHubData.minAltitude)
frskyData.frskyHubData.minAltitude = frskyData.frskyHubData.gpsAltitude_bp;
if (!frskyData.hub.gpsAltitudeOffset)
frskyData.hub.gpsAltitudeOffset = -frskyData.hub.gpsAltitude_bp;
frskyData.hub.gpsAltitude_bp += frskyData.hub.gpsAltitudeOffset;
if (!frskyData.hub.baroAltitudeOffset) {
if (frskyData.hub.gpsAltitude_bp > frskyData.hub.maxAltitude)
frskyData.hub.maxAltitude = frskyData.hub.gpsAltitude_bp;
if (frskyData.hub.gpsAltitude_bp < frskyData.hub.minAltitude)
frskyData.hub.minAltitude = frskyData.hub.gpsAltitude_bp;
}
if (!frskyData.frskyHubData.pilotLatitude && !frskyData.frskyHubData.pilotLongitude) {
if (!frskyData.hub.pilotLatitude && !frskyData.hub.pilotLongitude) {
// First received GPS position => Pilot GPS position
getGpsPilotPosition();
}
else if (frskyData.frskyHubData.gpsDistNeeded || g_menuStack[0] == menuProcFrsky) {
else if (frskyData.hub.gpsDistNeeded || g_menuStack[0] == menuProcFrsky) {
getGpsDistance();
}
break;
case offsetof(FrskyHubData, gpsSpeed_bp):
// Speed => Max speed
if (frskyData.frskyHubData.gpsSpeed_bp > frskyData.frskyHubData.maxGpsSpeed)
frskyData.frskyHubData.maxGpsSpeed = frskyData.frskyHubData.gpsSpeed_bp;
if (frskyData.hub.gpsSpeed_bp > frskyData.hub.maxGpsSpeed)
frskyData.hub.maxGpsSpeed = frskyData.hub.gpsSpeed_bp;
break;
case offsetof(FrskyHubData, volts):
// Voltage => Cell number + Cell voltage
{
uint8_t battnumber = ((frskyData.frskyHubData.volts & 0x00F0) >> 4);
uint8_t battnumber = ((frskyData.hub.volts & 0x00F0) >> 4);
if (battnumber < 12) {
if (frskyData.frskyHubData.cellsCount < battnumber+1) {
frskyData.frskyHubData.cellsCount = battnumber+1;
if (frskyData.hub.cellsCount < battnumber+1) {
frskyData.hub.cellsCount = battnumber+1;
}
uint8_t cellVolts = (uint8_t)(((((frskyData.frskyHubData.volts & 0xFF00) >> 8) + ((frskyData.frskyHubData.volts & 0x000F) << 8)))/10);
frskyData.frskyHubData.cellVolts[battnumber] = cellVolts;
if (!frskyData.frskyHubData.minCellVolts || cellVolts < frskyData.frskyHubData.minCellVolts || battnumber==frskyData.frskyHubData.minCellIdx) {
frskyData.frskyHubData.minCellIdx = battnumber;
frskyData.frskyHubData.minCellVolts = cellVolts;
uint8_t cellVolts = (uint8_t)(((((frskyData.hub.volts & 0xFF00) >> 8) + ((frskyData.hub.volts & 0x000F) << 8)))/10);
frskyData.hub.cellVolts[battnumber] = cellVolts;
if (!frskyData.hub.minCellVolts || cellVolts < frskyData.hub.minCellVolts || battnumber==frskyData.hub.minCellIdx) {
frskyData.hub.minCellIdx = battnumber;
frskyData.hub.minCellVolts = cellVolts;
}
}
break;
}
case offsetof(FrskyHubData, hour):
frskyData.frskyHubData.hour = ((uint8_t)(frskyData.frskyHubData.hour + g_eeGeneral.timezone + 24)) % 24;
frskyData.hub.hour = ((uint8_t)(frskyData.hub.hour + g_eeGeneral.timezone + 24)) % 24;
break;
case offsetof(FrskyHubData, accelX):
case offsetof(FrskyHubData, accelY):
case offsetof(FrskyHubData, accelZ):
*(int16_t*)(&((uint8_t*)&frskyData.frskyHubData)[structPos]) /= 10;
*(int16_t*)(&((uint8_t*)&frskyData.hub)[structPos]) /= 10;
break;
}
@@ -348,12 +348,12 @@ void parseTelemHubByte(uint8_t byte)
void parseTelemWSHowHighByte(uint8_t byte)
{
if (frskyUsrStreaming < (FRSKY_TIMEOUT10ms*3 - 10)) {
((uint8_t*)&frskyData.frskyHubData)[offsetof(FrskyHubData, baroAltitude_bp)] = byte;
((uint8_t*)&frskyData.hub)[offsetof(FrskyHubData, baroAltitude_bp)] = byte;
checkMinMaxAltitude();
}
else {
// At least 100mS passed since last data received
((uint8_t*)&frskyData.frskyHubData)[offsetof(FrskyHubData, baroAltitude_bp)+1] = byte;
((uint8_t*)&frskyData.hub)[offsetof(FrskyHubData, baroAltitude_bp)+1] = byte;
}
// baroAltitude_bp unit here is feet!
frskyUsrStreaming = FRSKY_TIMEOUT10ms*3; // reset counter
@@ -380,13 +380,13 @@ void processFrskyPacket(uint8_t *packet)
{
case LINKPKT: // A1/A2/RSSI values
link_counter += 32;
frskyData.frskyTelemetry[0].set(packet[1], g_model.frsky.channels[0].type);
frskyData.frskyTelemetry[1].set(packet[2], g_model.frsky.channels[1].type);
frskyData.frskyRSSI[0].set(packet[3]);
frskyData.frskyRSSI[1].set(packet[4] / 2);
frskyData.analog[0].set(packet[1], g_model.frsky.channels[0].type);
frskyData.analog[1].set(packet[2], g_model.frsky.channels[1].type);
frskyData.rssi[0].set(packet[3]);
frskyData.rssi[1].set(packet[4] / 2);
frskyStreaming = FRSKY_TIMEOUT10ms; // reset counter only if valid frsky packets are being detected
if (g_model.varioSource >= VARIO_SOURCE_A1) {
frskyData.frskyHubData.varioSpeed = applyChannelRatio(g_model.varioSource - VARIO_SOURCE_A1, frskyData.frskyTelemetry[g_model.varioSource - VARIO_SOURCE_A1].value);
frskyData.hub.varioSpeed = applyChannelRatio(g_model.varioSource - VARIO_SOURCE_A1, frskyData.analog[g_model.varioSource - VARIO_SOURCE_A1].value);
}
break;
#if defined(FRSKY_HUB) || defined (WS_HOW_HIGH)
@@ -557,7 +557,7 @@ void frskyTransmitBuffer()
}
#endif
uint8_t FrskyAlarmSendState = 0 ;
uint8_t frskyAlarmsSendState = 0 ;
inline void FRSKY10mspoll(void)
{
#if defined(PCBARM)
@@ -577,14 +577,14 @@ inline void FRSKY10mspoll(void)
*ptr++ = 0x00;
// Now send a packet
FrskyAlarmSendState -= 1;
uint8_t alarm = 1 - (FrskyAlarmSendState % 2);
if (FrskyAlarmSendState < 4) {
uint8_t channel = 1 - (FrskyAlarmSendState / 2);
frskyAlarmsSendState -= 1;
uint8_t alarm = 1 - (frskyAlarmsSendState % 2);
if (frskyAlarmsSendState < 4) {
uint8_t channel = 1 - (frskyAlarmsSendState / 2);
*ptr++ = (g_eeGeneral.beeperMode != e_mode_quiet ? ALARM_LEVEL(channel, alarm) : alarm_off);
*ptr++ = ALARM_GREATER(channel, alarm);
frskyPushValue(ptr, g_model.frsky.channels[channel].alarms_value[alarm]);
*ptr++ = (A22PKT + FrskyAlarmSendState); // fc - fb - fa - f9
*ptr++ = (A22PKT + frskyAlarmsSendState); // fc - fb - fa - f9
}
else {
*ptr++ = (g_eeGeneral.beeperMode != e_mode_quiet ? ((2+alarm+g_model.frsky.rssiAlarms[alarm].level) % 4) : alarm_off);
@@ -611,7 +611,7 @@ void check_frsky()
// Attempt to transmit any waiting Fr-Sky alarm set packets every 50ms (subject to packet buffer availability)
static uint8_t FrskyDelay = 5;
if (FrskyAlarmSendState && (--FrskyDelay == 0)) {
if (frskyAlarmsSendState && (--FrskyDelay == 0)) {
FrskyDelay = 5; // 50ms
FRSKY10mspoll();
}
@@ -625,12 +625,13 @@ void check_frsky()
frskyStreaming--;
}
else {
frskyData.frskyRSSI[0].set(0);
frskyData.frskyRSSI[1].set(0);
frskyData.rssi[0].set(0);
frskyData.rssi[1].set(0);
}
#endif
frskyData.currentPrescale += frskyData.frskyHubData.current;
frskyData.currentPrescale += (g_model.frsky.currentSource == 0 ? frskyData.hub.current : frskyData.analog[g_model.frsky.currentSource-1].value);
if (frskyData.currentPrescale >= currentConsumptionBoundary) {
frskyData.currentConsumption += 1;
frskyData.currentPrescale -= currentConsumptionBoundary;
@@ -642,7 +643,7 @@ void check_frsky()
#if defined(AUDIO)
int16_t varioSpeedUpMin = (g_model.varioSpeedUpMin - VARIO_SPEED_LIMIT_UP_CENTER)*VARIO_SPEED_LIMIT_MUL;
int16_t varioSpeedDownMin = (VARIO_SPEED_LIMIT_DOWN_OFF - g_model.varioSpeedDownMin)*(-VARIO_SPEED_LIMIT_MUL);
int16_t verticalSpeed = limit((int16_t)(-VARIO_SPEED_LIMIT*100), frskyData.frskyHubData.varioSpeed, (int16_t)(+VARIO_SPEED_LIMIT*100));
int16_t verticalSpeed = limit((int16_t)(-VARIO_SPEED_LIMIT*100), frskyData.hub.varioSpeed, (int16_t)(+VARIO_SPEED_LIMIT*100));
uint8_t SoundVarioBeepNextFreq = 0;
uint8_t SoundVarioBeepNextTime = 0;
@@ -674,7 +675,7 @@ void check_frsky()
}
}
#else
int8_t verticalSpeed = limit((int16_t)-100, (int16_t)(frskyData.frskyHubData.varioSpeed/10), (int16_t)+100);
int8_t verticalSpeed = limit((int16_t)-100, (int16_t)(frskyData.hub.varioSpeed/10), (int16_t)+100);
uint16_t interval;
if (verticalSpeed == 0) {
@@ -704,11 +705,11 @@ bool FRSKY_alarmRaised(uint8_t idx)
for (int i=0; i<2; i++) {
if (ALARM_LEVEL(idx, i) != alarm_off) {
if (ALARM_GREATER(idx, i)) {
if (frskyData.frskyTelemetry[idx].value > g_model.frsky.channels[idx].alarms_value[i])
if (frskyData.analog[idx].value > g_model.frsky.channels[idx].alarms_value[i])
return true;
}
else {
if (frskyData.frskyTelemetry[idx].value < g_model.frsky.channels[idx].alarms_value[i])
if (frskyData.analog[idx].value < g_model.frsky.channels[idx].alarms_value[i])
return true;
}
}
@@ -806,44 +807,44 @@ void resetTelemetry()
frskyEvalCurrentConsumptionBoundary();
#if defined(FRSKY_HUB)
frskyData.frskyHubData.gpsLatitude_bp = 2;
frskyData.frskyHubData.gpsLongitude_bp = 2;
frskyData.frskyHubData.gpsFix = -1;
frskyData.hub.gpsLatitude_bp = 2;
frskyData.hub.gpsLongitude_bp = 2;
frskyData.hub.gpsFix = -1;
#endif
#ifdef SIMU
frskyData.frskyTelemetry[0].set(120, UNIT_VOLTS);
frskyData.frskyRSSI[0].set(75);
frskyData.frskyHubData.fuelLevel = 75;
frskyData.frskyHubData.rpm = 12000;
frskyData.analog[0].set(120, UNIT_VOLTS);
frskyData.rssi[0].set(75);
frskyData.hub.fuelLevel = 75;
frskyData.hub.rpm = 12000;
frskyData.frskyHubData.gpsFix = 1;
frskyData.frskyHubData.gpsLatitude_bp = 4401;
frskyData.frskyHubData.gpsLatitude_ap = 7710;
frskyData.frskyHubData.gpsLongitude_bp = 1006;
frskyData.frskyHubData.gpsLongitude_ap = 8872;
frskyData.frskyHubData.gpsSpeed_bp = (100 * 250) / 463;
frskyData.hub.gpsFix = 1;
frskyData.hub.gpsLatitude_bp = 4401;
frskyData.hub.gpsLatitude_ap = 7710;
frskyData.hub.gpsLongitude_bp = 1006;
frskyData.hub.gpsLongitude_ap = 8872;
frskyData.hub.gpsSpeed_bp = (100 * 250) / 463;
getGpsPilotPosition();
frskyData.frskyHubData.gpsLatitude_bp = 4401;
frskyData.frskyHubData.gpsLatitude_ap = 7455;
frskyData.frskyHubData.gpsLongitude_bp = 1006;
frskyData.frskyHubData.gpsLongitude_ap = 9533;
frskyData.hub.gpsLatitude_bp = 4401;
frskyData.hub.gpsLatitude_ap = 7455;
frskyData.hub.gpsLongitude_bp = 1006;
frskyData.hub.gpsLongitude_ap = 9533;
getGpsDistance();
frskyData.frskyHubData.cellsCount = 6;
frskyData.hub.cellsCount = 6;
frskyData.frskyHubData.gpsAltitude_bp = 50;
frskyData.frskyHubData.baroAltitude_bp = 50;
frskyData.frskyHubData.minAltitude = 10;
frskyData.frskyHubData.maxAltitude = 500;
frskyData.hub.gpsAltitude_bp = 50;
frskyData.hub.baroAltitude_bp = 50;
frskyData.hub.minAltitude = 10;
frskyData.hub.maxAltitude = 500;
frskyData.frskyHubData.accelY = 100;
frskyData.frskyHubData.temperature1 = -30;
frskyData.frskyHubData.maxTemperature1 = 100;
frskyData.hub.accelY = 100;
frskyData.hub.temperature1 = -30;
frskyData.hub.maxTemperature1 = 100;
frskyData.frskyHubData.current = 5;
frskyData.frskyHubData.maxCurrent = 56;
frskyData.hub.current = 5;
frskyData.hub.maxCurrent = 56;
#endif
}
@@ -989,7 +990,7 @@ void putsTelemetryChannel(uint8_t x, uint8_t y, uint8_t channel, int16_t val, ui
enum FrskyViews {
e_frsky_custom,
e_frsky_bars,
e_frsky_a1a2,
e_frsky_voltages,
e_frsky_after_flight,
FRSKY_VIEW_MAX = e_frsky_after_flight
};
@@ -1000,11 +1001,11 @@ void displayRssiLine()
{
if (frskyStreaming > 0) {
lcd_hline(0, 55, 128, 0); // separator
uint8_t rssi = min((uint8_t)99, frskyData.frskyRSSI[1].value);
uint8_t rssi = min((uint8_t)99, frskyData.rssi[1].value);
lcd_putsLeft(7*FH+1, STR_TX); lcd_outdezNAtt(4*FW, 7*FH+1, rssi, LEADING0, 2);
lcd_rect(25, 57, 38, 7);
lcd_filled_rect(26, 58, 4*rssi/11, 5, (rssi < getRssiAlarmValue(0)) ? DOTTED : SOLID);
rssi = min((uint8_t)99, frskyData.frskyRSSI[0].value);
rssi = min((uint8_t)99, frskyData.rssi[0].value);
lcd_puts(105, 7*FH+1, STR_RX); lcd_outdezNAtt(105+4*FW-1, 7*FH+1, rssi, LEADING0, 2);
lcd_rect(65, 57, 38, 7);
uint8_t v = 4*rssi/11;
@@ -1021,17 +1022,17 @@ void displayGpsTime()
{
#define TIME_LINE (7*FH+1)
uint8_t att = (frskyStreaming > 0 ? LEFT|LEADING0 : LEFT|LEADING0|BLINK);
lcd_outdezNAtt(6*FW+5, TIME_LINE, frskyData.frskyHubData.hour, att, 2);
lcd_outdezNAtt(6*FW+5, TIME_LINE, frskyData.hub.hour, att, 2);
lcd_putcAtt(8*FW+2, TIME_LINE, ':', att);
lcd_outdezNAtt(9*FW+2, TIME_LINE, frskyData.frskyHubData.min, att, 2);
lcd_outdezNAtt(9*FW+2, TIME_LINE, frskyData.hub.min, att, 2);
lcd_putcAtt(11*FW-1, TIME_LINE, ':', att);
lcd_outdezNAtt(12*FW-1, TIME_LINE, frskyData.frskyHubData.sec, att, 2);
lcd_outdezNAtt(12*FW-1, TIME_LINE, frskyData.hub.sec, att, 2);
lcd_status_line();
}
void displayGpsCoord(uint8_t y, char direction, int16_t bp, int16_t ap)
{
if (frskyData.frskyHubData.gpsFix >= 0) {
if (frskyData.hub.gpsFix >= 0) {
if (!direction) direction = '-';
lcd_outdezAtt(10*FW, y, bp / 100, LEFT); // ddd before '.'
@@ -1118,9 +1119,9 @@ void menuProcFrsky(uint8_t event)
if (frskyStreaming > 0) {
if (field == TELEM_ACC) {
lcd_putsLeft(7*FH+1, STR_ACCEL);
lcd_outdezNAtt(4*FW, 7*FH+1, frskyData.frskyHubData.accelX, LEFT|PREC2);
lcd_outdezNAtt(10*FW, 7*FH+1, frskyData.frskyHubData.accelY, LEFT|PREC2);
lcd_outdezNAtt(16*FW, 7*FH+1, frskyData.frskyHubData.accelZ, LEFT|PREC2);
lcd_outdezNAtt(4*FW, 7*FH+1, frskyData.hub.accelX, LEFT|PREC2);
lcd_outdezNAtt(10*FW, 7*FH+1, frskyData.hub.accelY, LEFT|PREC2);
lcd_outdezNAtt(16*FW, 7*FH+1, frskyData.hub.accelZ, LEFT|PREC2);
break;
}
else if (field == TELEM_GPS_TIME) {
@@ -1209,27 +1210,36 @@ void menuProcFrsky(uint8_t event)
}
displayRssiLine();
}
else if (s_frsky_view == e_frsky_a1a2) {
// Big A1 / A2 with min and max
else if (s_frsky_view == e_frsky_voltages) {
// Big A1 / A2 with min and max, cells, Amps, mAh
uint8_t blink;
uint8_t y = 2*FH;
for (uint8_t i=0; i<2; i++) {
if (g_model.frsky.channels[i].ratio) {
blink = (FRSKY_alarmRaised(i) ? INVERS : 0);
putsStrIdx(0, y, STR_A, i+1, TWO_DOTS);
putsTelemetryChannel(3*FW, y, i+MAX_TIMERS, frskyData.frskyTelemetry[i].value, blink|DBLSIZE|LEFT);
lcd_putc(12*FW-1, y-FH, '<'); putsTelemetryChannel(17*FW, y-FH, i+MAX_TIMERS, frskyData.frskyTelemetry[i].min, NO_UNIT);
lcd_putc(12*FW, y, '>'); putsTelemetryChannel(17*FW, y, i+MAX_TIMERS, frskyData.frskyTelemetry[i].max, NO_UNIT);
y += 3*FH;
putsStrIdx(0, y, STR_A, i+1, 0);
putsTelemetryChannel(3*FW+6*FW+4, y, i+MAX_TIMERS, frskyData.analog[i].value, blink|DBLSIZE);
lcd_putc(12*FW-1, y-FH, '<'); putsTelemetryChannel(17*FW, y-FH, i+MAX_TIMERS, frskyData.analog[i].min, NO_UNIT);
lcd_putc(12*FW, y, '>'); putsTelemetryChannel(17*FW, y, i+MAX_TIMERS, frskyData.analog[i].max, NO_UNIT);
y += (frskyData.currentConsumption > 0) ? 2*FH : 3*FH;
}
else if (i > 0) {
y += FH;
}
}
if (frskyData.currentConsumption > 0) {
lcd_putsLeft(y, PSTR("Cur"));
if (g_model.frsky.currentSource == CURRENT_SOURCE_HUB)
putsTelemetryChannel(3*FW+4+FW, y, TELEM_CURRENT-1, frskyData.hub.current, LEFT|DBLSIZE);
putsTelemetryChannel(3*FW+4+4*FW+6*FW+FW, y, TELEM_CONSUMPTION-1, frskyData.currentConsumption, DBLSIZE);
}
#ifdef FRSKY_HUB
// Cells voltage
if (frskyData.frskyHubData.cellsCount > 0) {
if (frskyData.hub.cellsCount > 0) {
uint8_t y = 1*FH;
for (uint8_t k=0; k<frskyData.frskyHubData.cellsCount && k<6; k++) {
uint8_t attr = (barsThresholds[THLD_CELL] && frskyData.frskyHubData.cellVolts[k] < barsThresholds[THLD_CELL]) ? BLINK|PREC2 : PREC2;
lcd_outdezNAtt(21*FW, y, frskyData.frskyHubData.cellVolts[k] * 2, attr, 4);
for (uint8_t k=0; k<frskyData.hub.cellsCount && k<6; k++) {
uint8_t attr = (barsThresholds[THLD_CELL] && frskyData.hub.cellVolts[k] < barsThresholds[THLD_CELL]) ? BLINK|PREC2 : PREC2;
lcd_outdezNAtt(21*FW, y, frskyData.hub.cellVolts[k] * 2, attr, 4);
y += 1*FH;
}
lcd_vline(17*FW+4, 8, 47);
@@ -1244,20 +1254,20 @@ void menuProcFrsky(uint8_t event)
if (g_model.frsky.usrProto == USR_PROTO_FRSKY_HUB) {
// Latitude
lcd_putsLeft(line, STR_LATITUDE);
displayGpsCoord(line, frskyData.frskyHubData.gpsLatitudeNS, frskyData.frskyHubData.gpsLatitude_bp, frskyData.frskyHubData.gpsLatitude_ap);
displayGpsCoord(line, frskyData.hub.gpsLatitudeNS, frskyData.hub.gpsLatitude_bp, frskyData.hub.gpsLatitude_ap);
// Longitude
line+=1*FH+1;
lcd_putsLeft(line, STR_LONGITUDE);
displayGpsCoord(line, frskyData.frskyHubData.gpsLongitudeEW, frskyData.frskyHubData.gpsLongitude_bp, frskyData.frskyHubData.gpsLongitude_ap);
displayGpsCoord(line, frskyData.hub.gpsLongitudeEW, frskyData.hub.gpsLongitude_bp, frskyData.hub.gpsLongitude_ap);
displayGpsTime();
line+=1*FH+1;
}
// Rssi
lcd_putsLeft(line, STR_MINRSSI);
lcd_puts(10*FW, line, STR_TX);
lcd_outdezNAtt(lcdLastPos, line, frskyData.frskyRSSI[1].min, LEFT|LEADING0, 2);
lcd_outdezNAtt(lcdLastPos, line, frskyData.rssi[1].min, LEFT|LEADING0, 2);
lcd_puts(16*FW, line, STR_RX);
lcd_outdezNAtt(lcdLastPos, line, frskyData.frskyRSSI[0].min, LEFT|LEADING0, 2);
lcd_outdezNAtt(lcdLastPos, line, frskyData.rssi[0].min, LEFT|LEADING0, 2);
}
#endif
}
src/frsky.h
+5 -5
View File
@@ -151,10 +151,10 @@ struct FrskyHubData {
#endif
struct FrskyData {
FrskyValueWithMinMax frskyTelemetry[2];
FrskyValueWithMin frskyRSSI[2];
FrskyValueWithMinMax analog[2];
FrskyValueWithMin rssi[2];
#if defined(FRSKY_HUB) || defined(WS_HOW_HIGH)
FrskyHubData frskyHubData;
FrskyHubData hub;
#endif
uint16_t currentConsumption;
uint16_t currentPrescale;
@@ -169,7 +169,7 @@ extern int8_t frskyStreaming; // >0 (true) == data is streaming in. 0 = nodata d
extern uint8_t frskyUsrStreaming;
#define SEND_MODEL_ALARMS 6
extern uint8_t FrskyAlarmSendState;
extern uint8_t frskyAlarmsSendState;
extern FrskyData frskyData;
@@ -183,7 +183,7 @@ void check_frsky(void);
inline void FRSKY_setModelAlarms(void)
{
FrskyAlarmSendState = SEND_MODEL_ALARMS;
frskyAlarmsSendState = SEND_MODEL_ALARMS;
}
extern void frskyEvalCurrentConsumptionBoundary();
src/gruvin9x/logs.cpp
+22 -22
View File
@@ -130,31 +130,31 @@ void writeLogs()
#ifdef FRSKY
f_printf(&g_oLogFile, "%d,", frskyStreaming);
f_printf(&g_oLogFile, "%d,", frskyData.frskyRSSI[0].value);
f_printf(&g_oLogFile, "%d,", frskyData.frskyRSSI[1].value);
f_printf(&g_oLogFile, "%d,", frskyData.frskyTelemetry[0].value);
f_printf(&g_oLogFile, "%d,", frskyData.frskyTelemetry[1].value);
f_printf(&g_oLogFile, "%d,", frskyData.rssi[0].value);
f_printf(&g_oLogFile, "%d,", frskyData.rssi[1].value);
f_printf(&g_oLogFile, "%d,", frskyData.analog[0].value);
f_printf(&g_oLogFile, "%d,", frskyData.analog[1].value);
#endif
#ifdef FRSKY_HUB
if (g_model.frsky.usrProto == USR_PROTO_FRSKY_HUB) {
f_printf(&g_oLogFile, "%4d-%02d-%02d,", frskyData.frskyHubData.year+2000, frskyData.frskyHubData.month, frskyData.frskyHubData.day);
f_printf(&g_oLogFile, "%02d:%02d:%02d,", frskyData.frskyHubData.hour, frskyData.frskyHubData.min, frskyData.frskyHubData.sec);
f_printf(&g_oLogFile, "%03d.%04d%c,", frskyData.frskyHubData.gpsLongitude_bp, frskyData.frskyHubData.gpsLongitude_ap,
frskyData.frskyHubData.gpsLongitudeEW ? frskyData.frskyHubData.gpsLongitudeEW : '-');
f_printf(&g_oLogFile, "%03d.%04d%c,", frskyData.frskyHubData.gpsLatitude_bp, frskyData.frskyHubData.gpsLatitude_ap,
frskyData.frskyHubData.gpsLatitudeNS ? frskyData.frskyHubData.gpsLatitudeNS : '-');
f_printf(&g_oLogFile, "%03d.%d,", frskyData.frskyHubData.gpsCourse_bp, frskyData.frskyHubData.gpsCourse_ap);
f_printf(&g_oLogFile, "%d.%d,", frskyData.frskyHubData.gpsSpeed_bp, frskyData.frskyHubData.gpsSpeed_ap);
f_printf(&g_oLogFile, "%03d.%d,", frskyData.frskyHubData.gpsAltitude_bp, frskyData.frskyHubData.gpsAltitude_ap);
f_printf(&g_oLogFile, "%d.%d,", frskyData.frskyHubData.baroAltitude_bp, frskyData.frskyHubData.baroAltitude_ap);
f_printf(&g_oLogFile, "%d,", frskyData.frskyHubData.temperature1);
f_printf(&g_oLogFile, "%d,", frskyData.frskyHubData.temperature2);
f_printf(&g_oLogFile, "%d,", frskyData.frskyHubData.rpm);
f_printf(&g_oLogFile, "%d,", frskyData.frskyHubData.fuelLevel);
f_printf(&g_oLogFile, "%d,", frskyData.frskyHubData.volts);
f_printf(&g_oLogFile, "%d,", frskyData.frskyHubData.accelX);
f_printf(&g_oLogFile, "%d,", frskyData.frskyHubData.accelY);
f_printf(&g_oLogFile, "%d,", frskyData.frskyHubData.accelZ);
f_printf(&g_oLogFile, "%4d-%02d-%02d,", frskyData.hub.year+2000, frskyData.hub.month, frskyData.hub.day);
f_printf(&g_oLogFile, "%02d:%02d:%02d,", frskyData.hub.hour, frskyData.hub.min, frskyData.hub.sec);
f_printf(&g_oLogFile, "%03d.%04d%c,", frskyData.hub.gpsLongitude_bp, frskyData.hub.gpsLongitude_ap,
frskyData.hub.gpsLongitudeEW ? frskyData.hub.gpsLongitudeEW : '-');
f_printf(&g_oLogFile, "%03d.%04d%c,", frskyData.hub.gpsLatitude_bp, frskyData.hub.gpsLatitude_ap,
frskyData.hub.gpsLatitudeNS ? frskyData.hub.gpsLatitudeNS : '-');
f_printf(&g_oLogFile, "%03d.%d,", frskyData.hub.gpsCourse_bp, frskyData.hub.gpsCourse_ap);
f_printf(&g_oLogFile, "%d.%d,", frskyData.hub.gpsSpeed_bp, frskyData.hub.gpsSpeed_ap);
f_printf(&g_oLogFile, "%03d.%d,", frskyData.hub.gpsAltitude_bp, frskyData.hub.gpsAltitude_ap);
f_printf(&g_oLogFile, "%d.%d,", frskyData.hub.baroAltitude_bp, frskyData.hub.baroAltitude_ap);
f_printf(&g_oLogFile, "%d,", frskyData.hub.temperature1);
f_printf(&g_oLogFile, "%d,", frskyData.hub.temperature2);
f_printf(&g_oLogFile, "%d,", frskyData.hub.rpm);
f_printf(&g_oLogFile, "%d,", frskyData.hub.fuelLevel);
f_printf(&g_oLogFile, "%d,", frskyData.hub.volts);
f_printf(&g_oLogFile, "%d,", frskyData.hub.accelX);
f_printf(&g_oLogFile, "%d,", frskyData.hub.accelY);
f_printf(&g_oLogFile, "%d,", frskyData.hub.accelZ);
}
#endif
for (uint8_t i=0; i<NUM_STICKS+NUM_POTS; i++)
src/gtests.cpp
+15 -15
View File
@@ -208,7 +208,7 @@ extern void processFrskyPacket(uint8_t *packet);
TEST(FrSky, gpsNfuel) {
g_model.frsky.usrProto = 1;
frskyHubData.gpsFix = 1;
frskyData.hub.gpsFix = 1;
uint8_t pkt1[] = { 0xfd, 0x07, 0x00, 0x5e, 0x14, 0x2c, 0x00, 0x5e, 0x1c, 0x03 };
uint8_t pkt2[] = { 0xfd, 0x07, 0x00, 0x00, 0x5e, 0x13, 0x38, 0x0c, 0x5e, 0x1b };
@@ -224,14 +224,14 @@ TEST(FrSky, gpsNfuel) {
processFrskyPacket(pkt5);
processFrskyPacket(pkt6);
processFrskyPacket(pkt7);
EXPECT_EQ(frskyHubData.gpsCourse_bp, 44);
EXPECT_EQ(frskyHubData.gpsCourse_ap, 03);
EXPECT_EQ(frskyHubData.gpsLongitude_bp / 100, 120);
EXPECT_EQ(frskyHubData.gpsLongitude_bp % 100, 15);
EXPECT_EQ(frskyHubData.gpsLongitude_ap, 0x2698);
EXPECT_EQ(frskyHubData.gpsLatitudeNS, 'N');
EXPECT_EQ(frskyHubData.gpsLongitudeEW, 'E');
EXPECT_EQ(frskyHubData.fuelLevel, 100);
EXPECT_EQ(frskyData.hub.gpsCourse_bp, 44);
EXPECT_EQ(frskyData.hub.gpsCourse_ap, 03);
EXPECT_EQ(frskyData.hub.gpsLongitude_bp / 100, 120);
EXPECT_EQ(frskyData.hub.gpsLongitude_bp % 100, 15);
EXPECT_EQ(frskyData.hub.gpsLongitude_ap, 0x2698);
EXPECT_EQ(frskyData.hub.gpsLatitudeNS, 'N');
EXPECT_EQ(frskyData.hub.gpsLongitudeEW, 'E');
EXPECT_EQ(frskyData.hub.fuelLevel, 100);
}
TEST(FrSky, dateNtime) {
@@ -241,12 +241,12 @@ TEST(FrSky, dateNtime) {
processFrskyPacket(pkt1);
processFrskyPacket(pkt2);
processFrskyPacket(pkt3);
EXPECT_EQ(frskyHubData.day, 15);
EXPECT_EQ(frskyHubData.month, 07);
EXPECT_EQ(frskyHubData.year, 11);
EXPECT_EQ(frskyHubData.hour, 06);
EXPECT_EQ(frskyHubData.min, 18);
EXPECT_EQ(frskyHubData.sec, 50);
EXPECT_EQ(frskyData.hub.day, 15);
EXPECT_EQ(frskyData.hub.month, 07);
EXPECT_EQ(frskyData.hub.year, 11);
EXPECT_EQ(frskyData.hub.hour, 06);
EXPECT_EQ(frskyData.hub.min, 18);
EXPECT_EQ(frskyData.hub.sec, 50);
}
TEST(getSwitch, undefCSW) {
src/model_menus.cpp
+1 -1
View File
@@ -2390,7 +2390,7 @@ void menuProcTelemetry(uint8_t event)
case ITEM_TELEMETRY_A2_LABEL:
lcd_putsLeft(y, STR_ACHANNEL);
lcd_outdezAtt(2*FW, y, ch+1, 0);
putsTelemetryChannel(TELEM_COL2+6*FW, y, ch+MAX_TIMERS, frskyData.frskyTelemetry[ch].value, LEFT);
putsTelemetryChannel(TELEM_COL2+6*FW, y, ch+MAX_TIMERS, frskyData.analog[ch].value, LEFT);
break;
case ITEM_TELEMETRY_A1_RANGE:
src/open9x.cpp
+26 -29
View File
@@ -457,31 +457,31 @@ int16_t getValue(uint8_t i)
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT) return ex_chans[i-CSW_CHOUT_BASE];
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_TM2) return s_timerVal[i-CSW_CHOUT_BASE-NUM_CHNOUT];
#if defined(FRSKY)
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_A2) return frskyData.frskyTelemetry[i-CSW_CHOUT_BASE-NUM_CHNOUT-2].value;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_RSSI_TX) return frskyData.frskyRSSI[1].value;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_RSSI_RX) return frskyData.frskyRSSI[0].value;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_A2) return frskyData.analog[i-CSW_CHOUT_BASE-NUM_CHNOUT-2].value;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_RSSI_TX) return frskyData.rssi[1].value;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_RSSI_RX) return frskyData.rssi[0].value;
#if defined(FRSKY_HUB) || defined(WS_HOW_HIGH)
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_ALT) return frskyData.frskyHubData.baroAltitude_bp;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_ALT) return frskyData.hub.baroAltitude_bp;
#endif
#if defined(FRSKY_HUB)
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_RPM) return frskyData.frskyHubData.rpm;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_FUEL) return frskyData.frskyHubData.fuelLevel;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_T1) return frskyData.frskyHubData.temperature1;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_T2) return frskyData.frskyHubData.temperature2;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_SPEED) return frskyData.frskyHubData.gpsSpeed_bp;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_DIST) return frskyData.frskyHubData.gpsDistance;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_GPSALT) return frskyData.frskyHubData.gpsAltitude_bp;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_CELL) return (int16_t)frskyData.frskyHubData.minCellVolts * 2;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_CURRENT) return (int16_t)frskyData.frskyHubData.current;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_RPM) return frskyData.hub.rpm;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_FUEL) return frskyData.hub.fuelLevel;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_T1) return frskyData.hub.temperature1;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_T2) return frskyData.hub.temperature2;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_SPEED) return frskyData.hub.gpsSpeed_bp;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_DIST) return frskyData.hub.gpsDistance;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_GPSALT) return frskyData.hub.gpsAltitude_bp;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_CELL) return (int16_t)frskyData.hub.minCellVolts * 2;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_CURRENT) return (int16_t)frskyData.hub.current;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_CONSUMPTION) return frskyData.currentConsumption;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_ACCx) return frskyData.frskyHubData.accelX;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_ACCy) return frskyData.frskyHubData.accelY;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_ACCz) return frskyData.frskyHubData.accelZ;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_HDG) return frskyData.frskyHubData.gpsCourse_bp;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_VSPD) return frskyData.frskyHubData.varioSpeed;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_MIN_A1) return frskyData.frskyTelemetry[0].min;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_MIN_A2) return frskyData.frskyTelemetry[1].min;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_MAX_DIST) return *(((int16_t*)(&frskyData.frskyHubData.minAltitude))+i-(CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_MIN_ALT-1));
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_ACCx) return frskyData.hub.accelX;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_ACCy) return frskyData.hub.accelY;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_ACCz) return frskyData.hub.accelZ;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_HDG) return frskyData.hub.gpsCourse_bp;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_VSPD) return frskyData.hub.varioSpeed;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_MIN_A1) return frskyData.analog[0].min;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_MIN_A2) return frskyData.analog[1].min;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_MAX_DIST) return *(((int16_t*)(&frskyData.hub.minAltitude))+i-(CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_MIN_ALT-1));
#endif
#endif
else return 0;
@@ -1286,7 +1286,6 @@ void getADC_bandgap()
#endif // SIMU
uint8_t g_vbat100mV = 0;
volatile uint8_t tick10ms = 0;
uint16_t g_LightOffCounter;
#if !defined(PCBARM)
@@ -1698,7 +1697,7 @@ void evalFunctions()
}
uint8_t s_perout_flight_phase;
void perOut()
void perOut(uint8_t tick10ms)
{
BeepANACenter anaCenter = evalSticks();
@@ -2017,19 +2016,18 @@ inline void doMixerCalculations(uint16_t tmr10ms, uint8_t tick10ms)
for (uint8_t p=0; p<MAX_PHASES; p++) {
if (s_fade_flight_phases & (1<<p)) {
s_perout_flight_phase = p;
perOut();
perOut(tick10ms);
for (uint8_t i=0; i<NUM_CHNOUT; i++)
sum_chans512[i] += (chans[i] / 16) * fp_act[p];
weight += fp_act[p];
}
}
// printf("sum=%d, weight=%d ", sum_chans512[2], weight); fflush(stdout);
assert(weight);
s_perout_flight_phase = phase;
}
else {
s_perout_flight_phase = phase;
perOut();
perOut(tick10ms);
}
//========== LIMITS ===============
@@ -2039,7 +2037,6 @@ inline void doMixerCalculations(uint16_t tmr10ms, uint8_t tick10ms)
// at the end chans[i] = chans[i]/100 => -1024..1024
// interpolate value with min/max so we get smooth motion from center to stop
// this limits based on v original values and min=-1024, max=1024 RESX=1024
//printf("chans%d=%d\n", i, chans[i]);fflush(stdout);
int32_t q = (s_fade_flight_phases ? (sum_chans512[i] / weight) * 16 : chans[i]);
ex_chans[i] = q / 100; // for the next perMain
@@ -2701,13 +2698,13 @@ void moveTrimsToOffsets() // copy state of 3 primary to subtrim
int16_t zeros[NUM_CHNOUT];
s_perout_mode = e_perout_mode_zeros;
perOut(); // do output loop - zero input sticks and trims
perOut(0); // do output loop - zero input sticks and trims
for (uint8_t i=0; i<NUM_CHNOUT; i++) {
zeros[i] = applyLimits(i, chans[i]);
}
s_perout_mode = e_perout_mode_trims;
perOut(); // do output loop - only trims
perOut(0); // do output loop - only trims
s_perout_mode = e_perout_mode_normal;
for (uint8_t i=0; i<NUM_CHNOUT; i++) {