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refact: ADC, switches and keys

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Add "hardware_defs" target to dump hardware defines from hal.h per target

Fixed hal.h definitions for switches & ADC inputs

Tools to generate hardware definitions from current hal.h

generator: add support for EXTx and analog switches

WiP

Add generated header to hardware_defs target

Add support for ADC input direction and index per GPIO port

Incredible: it compiles

Removed StdPeriph ADC driver

Works on QX7

Works on TX16S (VBat missing)

Switch driver using generated switches for stm32 targets

Switch driver with generated switches for simu

Use switch names from switch driver

Fixed single conversion handling

Fixed horus VBat reading

Added switch name

Fix warnings about bitfield offsets and GCC 4.4

This is caused by bitfields that cross type boundaries. In this particular case, it happens as the bitfield is not defined the same in `rtc_backup.cpp`.

Switches has already been moved to generic driver

Jitter measurement for each sample, not just for oversampled values

Moved periph clock init to the ADC driver

ADC & GPIOs.

Add switchInit() to init pins

Fix NV14 CMake

Fix taranis target

Fix NV14 (again)

Model audio files: use new interface for switch index

Fix X9-lite

Fix simu headers

Fix getSwitchName()

Add support for ADC switches

Fix switch warning YAML

Test only switches which are defined

Conversions tests for QX7 only on QX7

Fix X12S

Fix function switch names

Enable ADC periph clock before initialising channels

NV14: offset inputs for the sticks & fix switches

WiP: get rid of VSRCRAW and some more

Simu shall use normal ADC driver

fix x7

fix nv14

Fix 9x nav

fix 212x64

fix xlite

fix x9e

fix simu lib

fix unit tests

fix x7 tests

PWM stick values should be written directly into adcValues

... just like FlySky sticks.

fix x12s

fix nv14

Add some support for SPI ADC (only unit tests)

Remove `jq` usage

fix generate_yaml.py for newer libclang

fix pot config

fix stick names

Some YAML generator improvements

Max 16 Pots on COLORLCD

Fix some source names

Use 10 bits for switches to prevent overflow

Removed horus constants for switches & ADC inputs

Fix unit tests

Fix curve edit

Fix libsimulator

Fix function switches (tpro)

Refine ADC & analog API

Moved hardware definitions scripts and templates into own dir

cleanup API refine

Fix unit tests

Mixer: apply calibration only on required inputs

Place ADC switches after all other ADC inputs

Fix X12S

Remove useless TR_POTS_VSRCRAW, TR_SW_VSRCRAW, and TR_VSRCRAW

Cleanup redundant generated YAML parsers

Fixes Boxer rebase

Add boxer to generate-hw-defs.sh

Obsolete LUA exports

Add boxer ADC_DIRECTION

Split generate_hw_defs.py into multiple files

Some cleanup (+ LUA switches)

Fix AXIS definitions

Fixed translation strings declarations

Some rebase fixes

Remove some useless StdPeriph drivers

fix: set pin mode to reset state on usart deinit

fix: use canonical names for calibration data

fix: ADC driver does not care about unconfigured inputs

fix X12S ADC

Add support for ADC conversion chaining

Better X12S ADC implem

Moved X12S ADC driver to HAL/LL

Improve ADC driver separation

Fixed taranis & nv14

Moved PWM gimbals to HAL/LL

Removed useless TR_EXTRA_VSRCRAW

Fixed include guards

Small fixes

Renamed control inputs

Moved internal and external module pulse driver def to boards

Move more things to the generic_stm32 board

Remove STR_VMIXTRIMS

Added analog labels

Generate main control names

Misuse labels / short labels for main controls

Backward compatibility: sliders and legacy names

New keys driver

Let's get rid of StdPeriph headers in simu

Add jinja2 to CI workflows

Use `grep` instead of `sed`

chore: add python jinja2 oto msys setup script

Removed more static definitions and use dynamic ones instead

Fixes X9E

Fix x7 nav too

212 switch display

Fix default sliders

Removed NUM_STICKS

212 switch display working nicely

Surface radio 'stick' replacements

fix: switch, trim & rotary pin init

Remove old key drivers

Removed VKEYS

Removed ETX_FOURCC

Fixed SURFACE_NAME

Removed TR_VSWITCHES & TR_TRIMS_SWITCHES

Fix xpot switches

Store calibrated analogs in physical order

Use getSourceString in drawSource

Implement missing YAML read/write

Fix isSourceAvailableInInputs()

Fix isSourceAvailable()

Some surface fixes

Fix CLI debug

Ported colour UI of analog diagnostics to new ADC API

Small fixes

Better input mapping

Minor tpro fixes

Fix trims available

Remove TX mode choice on surface radio

Rename surface controls

Channel order alignement

Fix throttle warning

Fix checkTrims()

Fix pot config casting issue

Fix IS_SWITCH_FS()

Fixed input mapping

Fix fswitch auto-switch

Fixed storing / reading function switches in YAML

Fix enableVBatBridge() / disableVBatBridge()

Fix interesting mode conversion

Fix sources issues

Fix special funnction list

Proper function switch handling

128 GUI improvements

Fix compilation

Boxer cosmetics

128 hardware screen cosmetic

Fix TX12 switches

More switches fixes

Simplify CPU type handling

Fix flash size

Fixed page-up / page-down in libopenui
This commit is contained in:
Raphael Coeffic
2023-06-25 14:32:39 +02:00
committed by Malte Langermann
parent b6dd3a0ef8
commit 2b100e0eb5
323 changed files with 12812 additions and 22301 deletions
Download Patch File Download Diff File Expand all files Collapse all files
radio/src/opentx.cpp
+82 -191
View File
@@ -22,7 +22,13 @@
#include "opentx.h"
#include "io/frsky_firmware_update.h"
#include "hal/adc_driver.h"
#include "hal/switch_driver.h"
#include "timers_driver.h"
#include "watchdog_driver.h"
#include "switches.h"
#include "inactivity_timer.h"
#include "input_mapping.h"
#include "tasks.h"
#include "tasks/mixer_task.h"
@@ -66,35 +72,6 @@ uint8_t* MSC_BOT_Data = reusableBuffer.MSC_BOT_Data;
uint8_t latencyToggleSwitch = 0;
#endif
const uint8_t bchout_ar[] = {
0x1B, 0x1E, 0x27, 0x2D, 0x36, 0x39,
0x4B, 0x4E, 0x63, 0x6C, 0x72, 0x78,
0x87, 0x8D, 0x93, 0x9C, 0xB1, 0xB4,
0xC6, 0xC9, 0xD2, 0xD8, 0xE1, 0xE4 };
uint8_t channelOrder(uint8_t setup, uint8_t x)
{
if (setup >= sizeof(bchout_ar)) return x;
return ((*(bchout_ar + setup) >> (6 - (x - 1) * 2)) & 3) + 1;
}
uint8_t channelOrder(uint8_t x)
{
return channelOrder(g_eeGeneral.templateSetup, x);
}
/*
mode1 rud ele thr ail
mode2 rud thr ele ail
mode3 ail ele thr rud
mode4 ail thr ele rud
*/
const uint8_t modn12x3[] = {
0, 1, 2, 3,
0, 2, 1, 3,
3, 1, 2, 0,
3, 2, 1, 0 };
volatile uint8_t rtc_count = 0;
#if defined(DEBUG_LATENCY)
@@ -116,33 +93,6 @@ void toggleLatencySwitch()
}
#endif
static void readKeysAndTrims()
{
uint32_t i;
uint8_t index = 0;
uint32_t keys_input = readKeys();
for (i = 0; i < TRM_BASE; i++) {
keys[index++].input(keys_input & (1 << i));
}
uint32_t trims_input = readTrims();
for (i = 1; i <= 1 << (TRM_LAST-TRM_BASE); i <<= 1) {
keys[index++].input(trims_input & i);
}
#if defined(PWR_BUTTON_PRESS)
if ((keys_input || trims_input || pwrPressed()) &&
(g_eeGeneral.backlightMode & e_backlight_mode_keys)) {
#else
if ((keys_input || trims_input) &&
(g_eeGeneral.backlightMode & e_backlight_mode_keys)) {
#endif
// on keypress turn the light on
resetBacklightTimeout();
}
}
void checkValidMCU(void)
{
#if !defined(SIMU)
@@ -202,54 +152,17 @@ void per10ms()
}
#endif
// TODO: to board...
readKeysAndTrims();
if (keysPollingCycle()) {
inactivityTimerReset(ActivitySource::Keys);
}
#if defined(FUNCTION_SWITCHES)
evalFunctionSwitches();
#endif
#if defined(ROTARY_ENCODER_NAVIGATION) && !defined(LIBOPENUI)
if (IS_ROTARY_ENCODER_NAVIGATION_ENABLE()) {
static rotenc_t rePreviousValue;
static bool cw = false;
rotenc_t reNewValue = (ROTARY_ENCODER_NAVIGATION_VALUE / ROTARY_ENCODER_GRANULARITY);
rotenc_t scrollRE = reNewValue - rePreviousValue;
if (scrollRE) {
static uint32_t lastEvent;
rePreviousValue = reNewValue;
bool new_cw = (scrollRE < 0) ? false : true;
if ((g_tmr10ms - lastEvent >= 10) || (cw == new_cw)) { // 100ms
pushEvent(new_cw ? EVT_ROTARY_RIGHT : EVT_ROTARY_LEFT);
// rotary encoder navigation speed (acceleration) detection/calculation
static uint32_t delay = 2*ROTENC_DELAY_MIDSPEED;
if (new_cw == cw) {
// Modified moving average filter used for smoother change of speed
delay = (((g_tmr10ms - lastEvent) << 3) + delay) >> 1;
}
else {
delay = 2*ROTENC_DELAY_MIDSPEED;
}
if (delay < ROTENC_DELAY_HIGHSPEED)
rotencSpeed = ROTENC_HIGHSPEED;
else if (delay < ROTENC_DELAY_MIDSPEED)
rotencSpeed = ROTENC_MIDSPEED;
else
rotencSpeed = ROTENC_LOWSPEED;
cw = new_cw;
lastEvent = g_tmr10ms;
}
if (g_eeGeneral.backlightMode & e_backlight_mode_keys) {
resetBacklightTimeout();
}
inactivity.counter = 0;
}
if (rotaryEncoderPollingCycle()) {
inactivityTimerReset(ActivitySource::Keys);
}
#endif
@@ -343,17 +256,8 @@ void generalDefault()
g_eeGeneral.internalModule = DEFAULT_INTERNAL_MODULE;
#endif
#if defined(DEFAULT_POTS_CONFIG)
g_eeGeneral.potsConfig = DEFAULT_POTS_CONFIG;
#endif
#if defined(DEFAULT_SWITCH_CONFIG)
g_eeGeneral.switchConfig = DEFAULT_SWITCH_CONFIG;
#endif
#if defined(DEFAULT_SLIDERS_CONFIG)
g_eeGeneral.slidersConfig = DEFAULT_SLIDERS_CONFIG;
#endif
g_eeGeneral.potsConfig = adcGetDefaultPotsConfig();
g_eeGeneral.switchConfig = switchGetDefaultConfig();
#if defined(STICK_DEAD_ZONE)
g_eeGeneral.stickDeadZone = DEFAULT_STICK_DEADZONE;
@@ -367,11 +271,14 @@ void generalDefault()
if (BATTERY_MAX != 120)
g_eeGeneral.vBatMax = BATTERY_MAX - 120;
#if defined(DEFAULT_MODE)
#if defined(SURFACE_RADIO)
g_eeGeneral.stickMode = 0;
g_eeGeneral.templateSetup = 0;
#elif defined(DEFAULT_MODE)
g_eeGeneral.stickMode = DEFAULT_MODE - 1;
g_eeGeneral.templateSetup = DEFAULT_TEMPLATE_SETUP;
#endif
g_eeGeneral.templateSetup = DEFAULT_TEMPLATE_SETUP;
g_eeGeneral.backlightMode = e_backlight_mode_all;
g_eeGeneral.lightAutoOff = 2;
@@ -382,9 +289,10 @@ void generalDefault()
g_eeGeneral.wavVolume = 2;
g_eeGeneral.backgroundVolume = 1;
for (int i=0; i<NUM_STICKS; ++i) {
auto controls = adcGetMaxInputs(ADC_INPUT_MAIN);
for (int i = 0; i < controls; ++i) {
g_eeGeneral.trainer.mix[i].mode = 2;
g_eeGeneral.trainer.mix[i].srcChn = channelOrder(i+1) - 1;
g_eeGeneral.trainer.mix[i].srcChn = inputMappingChannelOrder(i);
g_eeGeneral.trainer.mix[i].studWeight = 100;
}
@@ -456,21 +364,33 @@ int8_t getMovedSource(uint8_t min)
static int16_t inputsStates[MAX_INPUTS];
if (min <= MIXSRC_FIRST_INPUT) {
for (uint8_t i=0; i<MAX_INPUTS; i++) {
for (uint8_t i = 0; i < MAX_INPUTS; i++) {
if (abs(anas[i] - inputsStates[i]) > MULTIPOS_STEP_SIZE) {
if (!isInputRecursive(i)) {
result = MIXSRC_FIRST_INPUT+i;
result = MIXSRC_FIRST_INPUT + i;
break;
}
}
}
}
static int16_t sourcesStates[NUM_STICKS+NUM_POTS+NUM_SLIDERS+NUM_MOUSE_ANALOGS];
static int16_t sourcesStates[MAX_ANALOG_INPUTS];
if (result == 0) {
for (uint8_t i=0; i<NUM_STICKS+NUM_POTS+NUM_SLIDERS; i++) {
for (uint8_t i = 0; i < MAX_ANALOG_INPUTS; i++) {
if (abs(calibratedAnalogs[i] - sourcesStates[i]) > MULTIPOS_STEP_SIZE) {
result = MIXSRC_Rud+i;
auto offset = adcGetInputOffset(ADC_INPUT_POT);
if (i >= offset) {
result = MIXSRC_FIRST_POT + i - offset;
break;
}
#if MAX_AXIS > 0
offset = adcGetInputOffset(ADC_INPUT_AXIS);
if (i >= offset) {
result = MIXSRC_FIRST_AXIS + i - offset;
break;
}
#endif
result = MIXSRC_FIRST_STICK + inputMappingConvertMode(i);
break;
}
}
@@ -567,34 +487,6 @@ ls_telemetry_value_t maxTelemValue(source_t channel)
return 30000;
}
#define INAC_STICKS_SHIFT 6
#define INAC_SWITCHES_SHIFT 8
bool inputsMoved()
{
uint8_t sum = 0;
for (uint8_t i=0; i<NUM_STICKS+NUM_POTS+NUM_SLIDERS; i++)
sum += anaIn(i) >> INAC_STICKS_SHIFT;
for (uint8_t i=0; i<NUM_SWITCHES; i++)
sum += getValue(MIXSRC_FIRST_SWITCH+i) >> INAC_SWITCHES_SHIFT;
#if defined(IMU)
for (uint8_t i=0; i<2; i++)
sum += getValue(MIXSRC_TILT_X+i) >> INAC_STICKS_SHIFT;
#endif
#if defined(SPACEMOUSE)
for (uint8_t i=0; i<(MIXSRC_LAST_SPACEMOUSE - MIXSRC_FIRST_SPACEMOUSE); i++)
sum += get_spacemouse_value(i) >> INAC_STICKS_SHIFT;
#endif
if (abs((int8_t)(sum-inactivity.sum)) > 1) {
inactivity.sum = sum;
return true;
}
else {
return false;
}
}
void checkBacklight()
{
static uint8_t tmr10ms ;
@@ -602,11 +494,8 @@ void checkBacklight()
uint8_t x = g_blinkTmr10ms;
if (tmr10ms != x) {
tmr10ms = x;
if (inputsMoved()) {
inactivity.counter = 0;
if (g_eeGeneral.backlightMode & e_backlight_mode_sticks) {
resetBacklightTimeout();
}
if (inactivityCheckInputs()) {
inactivityTimerReset(ActivitySource::MainControls);
}
if (requiredBacklightBright == BACKLIGHT_FORCED_ON) {
@@ -661,7 +550,7 @@ void doSplash()
getADC(); // init ADC array
inputsMoved();
inactivityCheckInputs();
tmr10ms_t tgtime = get_tmr10ms() + SPLASH_TIMEOUT;
@@ -670,7 +559,7 @@ void doSplash()
getADC();
if (getEvent() || inputsMoved())
if (getEvent() || inactivityCheckInputs())
return;
#if defined(PWR_BUTTON_PRESS)
@@ -791,9 +680,9 @@ void checkAll()
uint32_t keys = readKeys();
std::string strKeys;
for (int i = 0; i < (int)TRM_BASE; i++) {
for (int i = 0; i < (int)MAX_KEYS; i++) {
if (keys & (1 << i)) {
strKeys += std::string(STR_VKEYS[i]);
strKeys += std::string(keysGetLabel(EnumKeys(i)));
}
}
@@ -844,26 +733,35 @@ bool isThrottleWarningAlertNeeded()
return false;
}
// throttle channel is either the stick according stick mode (already handled in evalInputs)
// or P1 to P3;
// in case an output channel is choosen as throttle source (thrTraceSrc>NUM_POTS+NUM_SLIDERS) we assume the throttle stick is the input
// no other information available at the moment, and good enough to my option (otherwise too much exceptions...)
uint8_t thrchn = ((g_model.thrTraceSrc==0) || (g_model.thrTraceSrc>NUM_POTS+NUM_SLIDERS)) ? THR_STICK : g_model.thrTraceSrc+NUM_STICKS-1;
uint8_t thr_src = throttleSource2Source(g_model.thrTraceSrc);
// in case an output channel is choosen as throttle source
// we assume the throttle stick is the input (no computed channels yet)
if (thr_src >= MIXSRC_FIRST_CH) {
thr_src = throttleSource2Source(0);
}
if (!mixerTaskRunning()) getADC();
evalInputs(e_perout_mode_notrainer); // let do evalInputs do the job
int16_t v = calibratedAnalogs[thrchn];
if (g_model.thrTraceSrc && g_model.throttleReversed) { // TODO : proper review of THR source definition and handling
int16_t v = getValue(thr_src);
// TODO: this looks fishy....
if (g_model.thrTraceSrc && g_model.throttleReversed) {
v = -v;
}
if (g_model.enableCustomThrottleWarning) {
int16_t idleValue = (int32_t)RESX * (int32_t)g_model.customThrottleWarningPosition / (int32_t)100;
int16_t idleValue = (int32_t)RESX *
(int32_t)g_model.customThrottleWarningPosition /
(int32_t)100;
return abs(v - idleValue) > THRCHK_DEADBAND;
}
else {
} else {
#if defined(SURFACE_RADIO) // surface radio, stick centered
return v > THRCHK_DEADBAND;
#else
return v > THRCHK_DEADBAND - RESX;
#endif
}
}
@@ -999,22 +897,21 @@ void alert(const char * title, const char * msg , uint8_t sound)
}
#if defined(GVARS)
#if NUM_TRIMS == 6
int8_t trimGvar[NUM_TRIMS] = { -1, -1, -1, -1, -1, -1 };
#elif NUM_TRIMS == 4
int8_t trimGvar[NUM_TRIMS] = { -1, -1, -1, -1 };
#elif NUM_TRIMS == 2
int8_t trimGvar[NUM_TRIMS] = { -1, -1 };
#if MAX_TRIMS == 6
int8_t trimGvar[MAX_TRIMS] = { -1, -1, -1, -1, -1, -1 };
#elif MAX_TRIMS == 4
int8_t trimGvar[MAX_TRIMS] = { -1, -1, -1, -1 };
#elif MAX_TRIMS == 2
int8_t trimGvar[MAX_TRIMS] = { -1, -1 };
#endif
#endif
void checkTrims()
{
event_t event = getEvent(true);
event_t event = getTrimEvent();
if (event && !IS_KEY_BREAK(event)) {
int8_t k = EVT_KEY_MASK(event) - TRM_BASE;
// LH_DWN LH_UP LV_DWN LV_UP RV_DWN RV_UP RH_DWN RH_UP
uint8_t idx = CONVERT_MODE_TRIMS((uint8_t)k/2);
int8_t k = EVT_KEY_MASK(event);
uint8_t idx = inputMappingConvertMode(uint8_t(k / 2));
uint8_t phase;
int before;
bool thro;
@@ -1051,7 +948,7 @@ void checkTrims()
after = 0;
beepTrim = true;
AUDIO_TRIM_MIDDLE();
pauseEvents(event);
pauseTrimEvents(event);
}
#if defined(GVARS)
@@ -1063,13 +960,13 @@ void checkTrims()
after = vmin;
beepTrim = false;
AUDIO_TRIM_MIN();
killEvents(event);
killTrimEvents(event);
}
else if (after > vmax) {
after = vmax;
beepTrim = false;
AUDIO_TRIM_MAX();
killEvents(event);
killTrimEvents(event);
}
SET_GVAR_VALUE(gvar, phase, after);
@@ -1085,12 +982,12 @@ void checkTrims()
if (before >= tMin && after <= tMin) {
beepTrim = false;
AUDIO_TRIM_MIN();
killEvents(event);
killTrimEvents(event);
}
else if (before <= tMax && after >= tMax) {
beepTrim = false;
AUDIO_TRIM_MAX();
killEvents(event);
killTrimEvents(event);
}
// If the new value is outside the limit, set it to the limit. This could have
@@ -1318,7 +1215,8 @@ void instantTrim()
evalInputs(e_perout_mode_notrainer);
for (uint8_t stick = 0; stick < NUM_STICKS; stick++) {
auto controls = adcGetMaxInputs(ADC_INPUT_MAIN);
for (uint8_t stick = 0; stick < controls; stick++) {
if (stick != THR_STICK) { // don't instant trim the throttle stick
bool addTrim = false;
int16_t delta = 0;
@@ -1479,7 +1377,7 @@ void moveTrimsToOffsets() // copy state of 3 primary to subtrim
}
// reset all trims, except throttle (if throttle trim)
for (uint8_t i=0; i<NUM_TRIMS; i++) {
for (uint8_t i=0; i<MAX_TRIMS; i++) {
auto thrStick = g_model.getThrottleStickTrimSource() - MIXSRC_FIRST_TRIM;
if (i != thrStick || !g_model.thrTrim) {
int16_t original_trim = getTrimValue(mixerCurrentFlightMode, i);
@@ -1497,10 +1395,6 @@ void moveTrimsToOffsets() // copy state of 3 primary to subtrim
AUDIO_WARNING2();
}
#if defined(ROTARY_ENCODER_NAVIGATION)
uint8_t rotencSpeed = ROTENC_LOWSPEED;
#endif
void opentxInit()
{
TRACE("opentxInit");
@@ -1770,9 +1664,7 @@ uint32_t pwrCheck()
return e_power_off;
}
else if (pwrPressed()) {
if (g_eeGeneral.backlightMode == e_backlight_mode_keys ||
g_eeGeneral.backlightMode == e_backlight_mode_all)
resetBacklightTimeout();
inactivityTimerReset(ActivitySource::Keys);
if (TELEMETRY_STREAMING()) {
message = STR_MODEL_STILL_POWERED;
@@ -1787,7 +1679,6 @@ uint32_t pwrCheck()
}
}
else {
inactivity.counter = 0;
if (g_eeGeneral.backlightMode != e_backlight_mode_off) {
BACKLIGHT_ENABLE();
}
@@ -1818,7 +1709,7 @@ uint32_t pwrCheck()
msg_len = sizeof(TR_USB_STILL_CONNECTED);
}
event_t evt = getEvent(false);
event_t evt = getEvent();
SET_WARNING_INFO(msg, msg_len, 0);
DISPLAY_WARNING(evt);
LED_ERROR_BEGIN();