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TrmR / TrmE / TrmT / TrmA sources added to mixers and custom switches

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The choice for Trim in mixers will be: OFF / ON / Rud / Ele / Thr / Ail
EEPROM formatted on ARM when invalid EEPROM
No EEPROM format when ARM board USB powered
This commit is contained in:
bsongis
2012-05-15 21:00:57 +00:00
parent 0e5360f07f
commit 45bdef6b3a
14 changed files with 116 additions and 124 deletions
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src/open9x.cpp
+46 -68
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@@ -315,15 +315,12 @@ int16_t Expo::expo(int16_t x)
#endif
void applyExpos(int16_t *anas, uint8_t phase)
void applyExpos(int16_t *anas)
{
static int16_t anas2[NUM_STICKS]; // values before expo, to ensure same expo base when multiple expo lines are used
memcpy(anas2, anas, sizeof(anas2));
if (phase == 255)
phase = getFlightPhase();
phase++;
uint8_t phase = s_perout_flight_phase + 1;
int8_t cur_chn = -1;
for (uint8_t i=0; i<MAX_EXPOS; i++) {
@@ -408,6 +405,7 @@ int16_t getValue(uint8_t 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_TrimAil) return calc1000toRESX((int16_t)8 * getTrimValue(s_perout_flight_phase, i-(NUM_STICKS+NUM_POTS+NUM_ROTARY_ENCODERS)));
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)
@@ -645,19 +643,12 @@ uint8_t getFlightPhase()
int16_t getRawTrimValue(uint8_t phase, uint8_t idx)
{
int16_t result;
if (s_trimPtr[idx]) {
result = *s_trimPtr[idx];
}
else {
PhaseData *p = phaseaddress(phase);
PhaseData *p = phaseaddress(phase);
#if defined(PCBSTD)
result = (((int16_t)p->trim[idx]) << 2) + ((p->trim_ext >> (2*idx)) & 0x03);
return (((int16_t)p->trim[idx]) << 2) + ((p->trim_ext >> (2*idx)) & 0x03);
#else
result = p->trim[idx];
return p->trim[idx];
#endif
}
return result;
}
int16_t getTrimValue(uint8_t phase, uint8_t idx)
@@ -667,18 +658,13 @@ int16_t getTrimValue(uint8_t phase, uint8_t idx)
void setTrimValue(uint8_t phase, uint8_t idx, int16_t trim)
{
if (s_trimPtr[idx]) {
*s_trimPtr[idx] = limit((int16_t)-125, trim, (int16_t)+125);
}
else {
PhaseData *p = phaseaddress(phase);
PhaseData *p = phaseaddress(phase);
#if defined(PCBSTD)
p->trim[idx] = (int8_t)(trim >> 2);
p->trim_ext = (p->trim_ext & ~(0x03 << (2*idx))) + (((trim & 0x03) << (2*idx)));
p->trim[idx] = (int8_t)(trim >> 2);
p->trim_ext = (p->trim_ext & ~(0x03 << (2*idx))) + (((trim & 0x03) << (2*idx)));
#else
p->trim[idx] = trim;
p->trim[idx] = trim;
#endif
}
STORE_MODELVARS;
}
@@ -696,11 +682,9 @@ uint8_t getTrimFlightPhase(uint8_t phase, uint8_t idx)
}
#if defined(PCBV4)
uint8_t s_perOut_flight_phase;
uint8_t getRotaryEncoderFlightPhase(uint8_t idx)
{
uint8_t phase = s_perOut_flight_phase;
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];
@@ -928,7 +912,8 @@ void alert(const pm_char * s)
sleep(1/*ms*/);
#endif
if (check_soft_power() > e_power_trainer) return; // Usb on or power off
if (check_soft_power() >= e_power_usb) return; // Usb on or power off
if (keyDown()) return; // wait for key release
@@ -954,8 +939,6 @@ void message(const pm_char *title, const pm_char *s, const pm_char *t, const cha
clearKeyEvents();
}
int8_t *s_trimPtr[NUM_STICKS] = { NULL, NULL, NULL, NULL };
uint8_t checkTrim(uint8_t event)
{
int8_t k = (event & EVT_KEY_MASK) - TRM_BASE;
@@ -964,7 +947,7 @@ uint8_t checkTrim(uint8_t event)
if (k>=0 && k<8) { // && (event & _MSK_KEY_REPT))
//LH_DWN LH_UP LV_DWN LV_UP RV_DWN RV_UP RH_DWN RH_UP
uint8_t idx = CONVERT_MODE(1+k/2) - 1;
uint8_t phase = getTrimFlightPhase(getFlightPhase(), idx);
uint8_t phase = getTrimFlightPhase(s_perout_flight_phase, idx);
int16_t before = getRawTrimValue(phase, idx);
int8_t v = (s==0) ? min(32, abs(before)/4+1) : 1 << (s-1); // 1=>1 2=>2 3=>4 4=>8
bool thro = (idx==THR_STICK && g_model.thrTrim);
@@ -1295,8 +1278,9 @@ int32_t act [MAX_MIXERS] = {0};
uint8_t swOn [MAX_MIXERS] = {0};
uint8_t mixWarning;
FORCEINLINE void evalTrims(uint8_t phase)
FORCEINLINE void evalTrims()
{
uint8_t phase = s_perout_flight_phase;
for (uint8_t i=0; i<NUM_STICKS; i++) {
// do trim -> throttle trim if applicable
// TODO avoid int32_t vv
@@ -1325,7 +1309,7 @@ enum PerOutMode {
uint8_t s_perout_mode = e_perout_mode_normal;
BeepANACenter evalSticks(uint8_t phase)
BeepANACenter evalSticks()
{
BeepANACenter anaCenter = 0;
@@ -1399,10 +1383,10 @@ BeepANACenter evalSticks(uint8_t phase)
}
/* EXPOs */
applyExpos(anas, phase);
applyExpos(anas);
/* TRIMs */
evalTrims(phase);
evalTrims();
return anaCenter;
}
@@ -1525,13 +1509,10 @@ void evalFunctions()
}
}
void perOut(uint8_t phase)
uint8_t s_perout_flight_phase;
void perOut()
{
#if defined(PCBV4)
s_perOut_flight_phase = phase;
#endif
BeepANACenter anaCenter = evalSticks(phase);
BeepANACenter anaCenter = evalSticks();
if (s_perout_mode == e_perout_mode_normal) {
//===========BEEP CENTER================
@@ -1603,17 +1584,13 @@ void perOut(uint8_t phase)
}
}
#endif
s_trimPtr[0] = NULL;
s_trimPtr[1] = NULL;
s_trimPtr[2] = NULL;
s_trimPtr[3] = NULL;
}
memset(chans, 0, sizeof(chans)); // All outputs to 0
//========== MIXER LOOP ===============
uint8_t lv_mixWarning = 0;
uint8_t phase = s_perout_flight_phase + 1;
for (uint8_t i=0; i<MAX_MIXERS; i++) {
MixData *md = mixaddress( i ) ;
@@ -1622,11 +1599,11 @@ void perOut(uint8_t phase)
if (md->phase != 0) {
if (md->phase > 0) {
if (phase+1 != md->phase)
if (phase != md->phase)
continue;
}
else {
if (phase+1 == -md->phase)
if (phase == -md->phase)
continue;
}
}
@@ -1741,15 +1718,16 @@ void perOut(uint8_t phase)
v = applyCurve(v, md->curve);
//========== TRIMS ===============
if (k < NUM_STICKS) {
if (s_perout_mode < e_perout_mode_zeros && md->carryTrim == TRIM_ON) {
v += trims[k];
}
if (s_perout_mode == e_perout_mode_normal && md->carryTrim == TRIM_OFFSET) {
v = md->sOffset;
v = calc1000toRESX(v << 3);
s_trimPtr[k] = &md->sOffset; // use the value stored here for the trim
}
if (s_perout_mode < e_perout_mode_zeros) {
int8_t mix_trim = md->carryTrim;
if (mix_trim < TRIM_ON)
mix_trim = -mix_trim-1;
else if (mix_trim == TRIM_ON && k < NUM_STICKS)
mix_trim = k;
else
mix_trim = -1;
if (mix_trim >= 0)
v += trims[mix_trim];
}
//========== MULTIPLEX ===============
@@ -1831,17 +1809,20 @@ void perMain()
weight = 0;
for (uint8_t p=0; p<MAX_PHASES; p++) {
if (s_fade_flight_phases & (1<<p)) {
perOut(p);
s_perout_flight_phase = p;
perOut();
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);
assert(weight);
s_perout_flight_phase = phase;
}
else {
perOut(phase);
s_perout_flight_phase = phase;
perOut();
}
//========== LIMITS ===============
@@ -2417,14 +2398,12 @@ ISR(USART0_UDRE_vect)
void instantTrim()
{
uint8_t phase = getFlightPhase();
for (uint8_t i=0; i<NUM_STICKS; i++) {
if (i!=THR_STICK) {
// don't instant trim the throttle stick
uint8_t trim_phase = getTrimFlightPhase(phase, i);
uint8_t trim_phase = getTrimFlightPhase(s_perout_flight_phase, i);
s_perout_mode = e_instant_trim;
evalSticks(phase);
evalSticks();
s_perout_mode = e_perout_mode_normal;
int16_t trim = (anas[i] + trims[i]) / 2;
if (trim < TRIM_EXTENDED_MIN) {
@@ -2444,16 +2423,15 @@ void instantTrim()
void moveTrimsToOffsets() // copy state of 3 primary to subtrim
{
int16_t zeros[NUM_CHNOUT];
uint8_t phase = getFlightPhase();
s_perout_mode = e_perout_mode_zeros;
perOut(phase); // do output loop - zero input sticks and trims
perOut(); // 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(phase); // do output loop - only trims
perOut(); // do output loop - only trims
s_perout_mode = e_perout_mode_normal;
for (uint8_t i=0; i<NUM_CHNOUT; i++) {
@@ -2468,7 +2446,7 @@ void moveTrimsToOffsets() // copy state of 3 primary to subtrim
// reset all trims, except throttle (if throttle trim)
for (uint8_t i=0; i<NUM_STICKS; i++) {
if (i!=THR_STICK || !g_model.thrTrim) {
int16_t original_trim = getTrimValue(phase, i);
int16_t original_trim = getTrimValue(s_perout_flight_phase, i);
for (uint8_t phase=0; phase<MAX_PHASES; phase++) {
int16_t trim = getRawTrimValue(phase, i);
if (trim <= TRIM_EXTENDED_MAX)