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Merge branch 'next' of https://github.com/opentx/opentx into bsongis/spare_values_in_telemetry_and_functions

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This commit is contained in:
Andre Bernet
2014-02-27 20:09:31 +01:00
parent c823ca69ce 93b895a4f5
commit 572a9ed3ba
284 changed files with 5398 additions and 4396 deletions
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radio/src/opentx.cpp
+154 -110
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@@ -1317,7 +1317,6 @@ getvalue_t getValue(uint8_t i)
volatile GETSWITCH_RECURSIVE_TYPE s_last_switch_used = 0;
volatile GETSWITCH_RECURSIVE_TYPE s_last_switch_value = 0;
/* recursive function. stack as of today (16/03/2012) grows by 8bytes at each call, which is ok! */
#if defined(CPUARM)
uint32_t cswDelays[NUM_CSW];
@@ -1330,27 +1329,66 @@ tmr10ms_t switchesMidposStart[6] = { 0 };
uint32_t switchesPos = 0;
tmr10ms_t potsLastposStart[NUM_XPOTS];
uint8_t potsPos[NUM_XPOTS];
uint32_t check2PosSwitchPosition(EnumKeys sw)
{
uint32_t result;
uint32_t index;
if (switchState(sw))
index = sw - SW_SA0;
else
index = sw - SW_SA0 + 1;
result = (1 << index);
if (!(switchesPos & result)) {
PLAY_SWITCH_MOVED(index);
}
return result;
}
#define DELAY_SWITCH_3POS 10/*100ms*/
#define CHECK_2POS(sw) newPos |= (switchState(sw ## 0) ? (1 << (sw ## 0 - SW_SA0)) : (1 << (sw ## 0 - SW_SA0 + 1)))
#define CHECK_3POS(idx, sw) if (switchState(sw ## 0)) { \
newPos |= (1 << (sw ## 0 - SW_SA0)); \
switchesMidposStart[idx] = 0; \
} \
else if (switchState(sw ## 2)) { \
newPos |= (1 << (sw ## 0 - SW_SA0 + 2)); \
switchesMidposStart[idx] = 0; \
} \
else if ((switchesPos & (1 << (sw ## 0 - SW_SA0 + 1))) || (switchesMidposStart[idx] && (tmr10ms_t)(get_tmr10ms() - switchesMidposStart[idx]) > DELAY_SWITCH_3POS)) { \
newPos |= (1 << (sw ## 0 - SW_SA0 + 1)); \
switchesMidposStart[idx] = 0; \
} \
else { \
if (!switchesMidposStart[idx]) { \
switchesMidposStart[idx] = get_tmr10ms(); \
} \
newPos |= (switchesPos & (0x7 << (sw ## 0 - SW_SA0))); \
}
void getSwitchesPosition()
uint32_t check3PosSwitchPosition(uint8_t idx, EnumKeys sw, bool startup)
{
uint32_t result;
uint32_t index;
if (switchState(sw)) {
index = sw - SW_SA0;
result = (1 << index);
switchesMidposStart[idx] = 0;
}
else if (switchState(EnumKeys(sw+2))) {
index = sw - SW_SA0 + 2;
result = (1 << index);
switchesMidposStart[idx] = 0;
}
else if (startup || (switchesPos & (1 << (sw - SW_SA0 + 1))) || (switchesMidposStart[idx] && (tmr10ms_t)(get_tmr10ms() - switchesMidposStart[idx]) > DELAY_SWITCH_3POS)) {
index = sw - SW_SA0 + 1;
result = (1 << index);
switchesMidposStart[idx] = 0;
}
else {
index = sw - SW_SA0 + 1;
if (!switchesMidposStart[idx]) {
switchesMidposStart[idx] = get_tmr10ms();
}
result = (switchesPos & (0x7 << (sw - SW_SA0)));
}
if (!(switchesPos & result)) {
PLAY_SWITCH_MOVED(index);
}
return result;
}
#define CHECK_2POS(sw) newPos |= check2PosSwitchPosition(sw ## 0)
#define CHECK_3POS(idx, sw) newPos |= check3PosSwitchPosition(idx, sw ## 0, startup)
void getSwitchesPosition(bool startup)
{
uint32_t newPos = 0;
CHECK_3POS(0, SW_SA);
@@ -1369,13 +1407,17 @@ void getSwitchesPosition()
if (calib->count>0 && calib->count<POTS_POS_COUNT) {
uint8_t pos = anaIn(POT1+i) / (2*RESX/calib->count);
uint8_t previousPos = potsPos[i] >> 4;
uint8_t previousStoredPos = potsPos[i] & 0x0F;
if (pos != previousPos) {
potsLastposStart[i] = get_tmr10ms();
potsPos[i] = (pos << 4) | (potsPos[i] & 0x0f);
potsPos[i] = (pos << 4) | previousStoredPos;
}
else if ((tmr10ms_t)(get_tmr10ms() - potsLastposStart[i]) > DELAY_SWITCH_3POS) {
else if (startup || (tmr10ms_t)(get_tmr10ms() - potsLastposStart[i]) > DELAY_SWITCH_3POS) {
potsLastposStart[i] = 0;
potsPos[i] = (pos << 4) | (pos);
potsPos[i] = (pos << 4) | pos;
if (previousStoredPos != pos) {
PLAY_SWITCH_MOVED(SWSRC_LAST_SWITCH+i*POTS_POS_COUNT+pos);
}
}
}
}
@@ -1384,16 +1426,14 @@ void getSwitchesPosition()
#define SWITCH_POSITION(sw) (switchesPos & (1<<(sw)))
#define POT_POSITION(sw) ((potsPos[(sw)/POTS_POS_COUNT] & 0x0f) == ((sw) % POTS_POS_COUNT))
#else
#define getSwitchesPosition()
#define getSwitchesPosition(...)
#define SWITCH_POSITION(idx) switchState((EnumKeys)(SW_BASE+(idx)))
#endif
int16_t csLastValue[NUM_CSW];
#define CS_LAST_VALUE_INIT -32768
// param swtch may be (negativ sign ignored)
// 0 --> no source
// 1 .. 9 (or max switches) --> returns switch value including 3pos
// others internal switches etc.
/* recursive function. stack as of today (16/03/2012) grows by 8bytes at each call, which is ok! */
bool getSwitch(int8_t swtch)
{
bool result;
@@ -1548,7 +1588,12 @@ bool getSwitch(int8_t swtch)
#endif
switch (cs->func) {
#if defined(CPUARM)
case LS_FUNC_VEQUAL:
result = (x==y);
break;
#endif
case LS_FUNC_VALMOSTEQUAL:
#if defined(GVARS)
if (v1 >= MIXSRC_GVAR1 && v1 <= MIXSRC_LAST_GVAR)
result = (x==y);
@@ -1592,13 +1637,13 @@ bool getSwitch(int8_t swtch)
result = false;
}
else {
cswDelays[cs_idx] = get_tmr10ms() + (cs->delay*50);
cswDelays[cs_idx] = get_tmr10ms() + (cs->delay*10);
}
}
if (cs->duration) {
if (result && !cswStates[cs_idx]) {
cswDurations[cs_idx] = get_tmr10ms() + (cs->duration*50);
cswDurations[cs_idx] = get_tmr10ms() + (cs->duration*10);
}
cswStates[cs_idx] = result;
@@ -1613,10 +1658,14 @@ bool getSwitch(int8_t swtch)
}
#endif
if (result)
if (result) {
if (!(s_last_switch_value&mask)) PLAY_LOGICAL_SWITCH_ON(cs_idx);
s_last_switch_value |= mask;
else
}
else {
if (s_last_switch_value&mask) PLAY_LOGICAL_SWITCH_OFF(cs_idx);
s_last_switch_value &= ~mask;
}
}
}
@@ -1647,53 +1696,24 @@ int8_t getMovedSwitch()
}
}
#else
// saves about 50 bytes flash
// return delivers 1 to 3 for ID1 to ID3
// 4..8 for all other switches if changed to true
// -4..-8 for all other switches if changed to false
// 9 for Trainer switch if changed to true; Change to false is ignored
swstate_t mask=0x80;
swstate_t mask = 0x80;
for (uint8_t i=NUM_PSWITCH; i>1; i--) {
bool prev;
// mask= (1<<(i-2));
prev=(switches_states & mask);
prev = (switches_states & mask);
// don't use getSwitch here to always get the proper value, even getSwitch manipulates
// bool next = getSwitch(i);
bool next = switchState((EnumKeys)(SW_BASE+i-1));
if (prev!=next) {
if (((i<NUM_PSWITCH) && (i>3)) || next==true)
result = next ? i : -i;
if ((i<=3) && (result==0)) result=1;
switches_states ^= mask;
}
mask>>=1;
} //endfor
/*
for (uint8_t i=NUM_PSWITCH; i>0; i--) {
bool prev;
swstate_t mask = 0;
if (i <= 3) {
prev = ((switches_states & 0x03) == (i-1));
}
else {
mask = (1<<(i-2));
prev = (switches_states & mask);
}
// don't use getSwitch here to always get the proper value, because getSwitch manipulates
// bool next = getSwitch(i);
bool next = switchState((EnumKeys)(SW_BASE+i-1));
if (prev != next) {
if (i!=NUM_PSWITCH || next==true)
if (((i<NUM_PSWITCH) && (i>3)) || next==true)
result = next ? i : -i;
if (mask)
switches_states ^= mask;
else {
switches_states = (switches_states & 0xFC) | (i-1);
}
if (i<=3 && result==0) result = 1;
switches_states ^= mask;
}
} //endfor */
mask >>= 1;
}
#endif
if ((tmr10ms_t)(get_tmr10ms() - s_move_last_time) > 10)
@@ -2312,6 +2332,8 @@ void checkAll()
#endif
clearKeyEvents();
SKIP_AUTOMATIC_PROMPTS();
}
#if defined(MODULE_ALWAYS_SEND_PULSES)
@@ -2360,30 +2382,39 @@ void checkTHR()
if (g_model.disableThrottleWarning) return;
getADC();
evalInputs(e_perout_mode_notrainer); // let do evalInputs do the job
int16_t v = calibratedStick[thrchn];
if (v<=(THRCHK_DEADBAND-1024)) return; // prevent warning if throttle input OK
// first - display warning; also deletes inputs if any have been before
MESSAGE(STR_THROTTLEWARN, STR_THROTTLENOTIDLE, STR_PRESSANYKEYTOSKIP, AU_THROTTLE_ALERT);
while (1) {
SIMU_SLEEP(1);
getADC();
while (1) {
SIMU_SLEEP(1);
evalInputs(e_perout_mode_notrainer); // let do evalInputs do the job
v = calibratedStick[thrchn];
if (pwrCheck()==e_power_off || keyDown() || v<=(THRCHK_DEADBAND-1024))
break;
getADC();
evalInputs(e_perout_mode_notrainer); // let do evalInputs do the job
v = calibratedStick[thrchn];
if (pwrCheck()==e_power_off || keyDown() || v<=(THRCHK_DEADBAND-1024))
break;
checkBacklight();
wdt_reset();
}//endwhile
checkBacklight();
wdt_reset();
}
#endif
}
void checkAlarm() // added by Gohst
{
if (g_eeGeneral.disableAlarmWarning) return;
if (IS_SOUND_OFF()) ALERT(STR_ALARMSWARN, STR_ALARMSDISABLED, AU_ERROR);
if (g_eeGeneral.disableAlarmWarning)
return;
if (IS_SOUND_OFF())
ALERT(STR_ALARMSWARN, STR_ALARMSDISABLED, AU_ERROR);
}
void checkSwitches()
@@ -2414,19 +2445,21 @@ void checkSwitches()
for (uint8_t i=0; i<NUM_SWITCHES-1; i++) {
if (!(g_model.nSwToWarn & (1<<i))) {
swstate_t mask = (0x03 << (i*2));
if(!((states & mask) == (switches_states & mask)))
if (!((states & mask) == (switches_states & mask))) {
warn = true;
}
}
}
uint8_t potMode = g_model.nPotsToWarn >> 6;
if(potMode) {
if (potMode) {
perOut(e_perout_mode_normal, 0);
bad_pots = 0;
for (uint8_t i=0; i<NUM_POTS; i++)
if(!(g_model.nPotsToWarn & (1 << i)) && (abs(g_model.potPosition[i] - (getValue(MIXSRC_FIRST_POT+i) >> 3)) > 2)) {
warn = true;
bad_pots |= (1<<i);
}
for (uint8_t i=0; i<NUM_POTS; i++) {
if (!(g_model.nPotsToWarn & (1 << i)) && (abs(g_model.potPosition[i] - (getValue(MIXSRC_FIRST_POT+i) >> 3)) > 2)) {
warn = true;
bad_pots |= (1<<i);
}
}
}
#else
for (uint8_t i=0; i<NUM_SWITCHES-1; i++) {
@@ -2456,7 +2489,7 @@ void checkSwitches()
if ((last_bad_switches != switches_states) || (last_bad_pots != bad_pots)) {
MESSAGE(STR_SWITCHWARN, NULL, STR_PRESSANYKEYTOSKIP, ((last_bad_switches == 0xff) || (last_bad_pots == 0xff)) ? AU_SWITCH_ALERT : AU_NONE);
for (uint8_t i=0; i<NUM_SWITCHES-1; i++) {
if(!(g_model.nSwToWarn & (1<<i))) {
if (!(g_model.nSwToWarn & (1<<i))) {
swstate_t mask = (0x03 << (i*2));
uint8_t attr = ((states & mask) == (switches_states & mask)) ? 0 : INVERS;
char c = "\300-\301"[(states & mask) >> (i*2)];
@@ -2464,7 +2497,7 @@ void checkSwitches()
lcd_putcAtt(60+i*(2*FW+FW/2)+FW, 4*FH+3, c, attr);
}
}
if(potMode) {
if (potMode) {
for (uint8_t i=0; i<NUM_POTS; i++) {
if (!(g_model.nPotsToWarn & (1 << i))) {
uint8_t flags = 0;
@@ -2474,8 +2507,8 @@ void checkSwitches()
case 1:
lcd_putc(60+i*(5*FW)+2*FW+2, 6*FH-2, g_model.potPosition[i] > (getValue(MIXSRC_FIRST_POT+i) >> 3) ? 126 : 127);
break;
case 2:
case 3:
case 2:
case 3:
lcd_putc(60+i*(5*FW)+2*FW+2, 6*FH-2, g_model.potPosition[i] > (getValue(MIXSRC_FIRST_POT+i) >> 3) ? '\300' : '\301');
break;
}
@@ -2493,11 +2526,11 @@ void checkSwitches()
for (uint8_t i=0; i<NUM_SWITCHES-1; i++) {
uint8_t attr;
if (i == 0)
attr = ((states & 0x03) != (switches_states & 0x03)) ? INVERS : 0;
attr = ((states & 0x03) != (switches_states & 0x03)) ? INVERS : 0;
else
attr = (states & (1 << (i+1))) == (switches_states & (1 << (i+1))) ? 0 : INVERS;
if(!(g_model.nSwToWarn & (1<<i)))
putsSwitches(x, 5*FH, (i>0?(i+3):(states&0x3)+1), attr);
attr = (states & (1 << (i+1))) == (switches_states & (1 << (i+1))) ? 0 : INVERS;
if (!(g_model.nSwToWarn & (1<<i)))
putsSwitches(x, 5*FH, (i>0?(i+3):(states&0x3)+1), attr);
x += 3*FW+FW/2;
}
#endif
@@ -2639,7 +2672,7 @@ uint8_t checkTrim(uint8_t event)
thro = (idx==THR_STICK && g_model.thrTrim);
#endif
int8_t trimInc = g_model.trimInc + 1;
int8_t v = (trimInc==-1) ? min(32, abs(before)/4+1) : (1 << trimInc);
int8_t v = (trimInc==-1) ? min(32, abs(before)/4+1) : (1 << trimInc); // TODO flash saving if (trimInc < 0)
if (thro) v = 4; // if throttle trim and trim trottle then step=4
int16_t after = (k&1) ? before + v : before - v; // positive = k&1
#if defined(CPUARM)
@@ -2956,11 +2989,14 @@ void resetAll()
#if defined(FRSKY)
resetTelemetry();
#endif
for (uint8_t i=0; i<NUM_CSW; i++)
for (uint8_t i=0; i<NUM_CSW; i++) {
csLastValue[i] = CS_LAST_VALUE_INIT;
}
s_last_switch_value = 0;
SKIP_AUTOMATIC_PROMPTS();
RESET_THR_TRACE();
}
@@ -3354,7 +3390,7 @@ void evalFunctions()
if (active || IS_PLAY_BOTH_FUNC(CFN_FUNC(sd))) {
switch(CFN_FUNC(sd)) {
switch (CFN_FUNC(sd)) {
case FUNC_SAFETY_CHANNEL:
safetyCh[CFN_CH_INDEX(sd)] = CFN_PARAM(sd);
@@ -3574,11 +3610,6 @@ void evalFunctions()
lastFunctionTime[i] = 0;
#if defined(CPUARM)
fnSwitchDuration[i] = 0;
#endif
#if defined(CPUARM) && defined(SDCARD)
if (CFN_FUNC(sd) == FUNC_BACKGND_MUSIC && isFunctionActive(FUNCTION_BACKGND_MUSIC)) {
STOP_PLAY(i+1);
}
#endif
}
}
@@ -3758,7 +3789,7 @@ void perOut(uint8_t mode, uint8_t tick10ms)
continue;
}
else if (!mixEnabled) {
if (md->speedDown && md->mltpx!=MLTPX_REP) {
if ((md->speedDown || md->speedUp) && md->mltpx!=MLTPX_REP) {
if (mixCondition) {
v = (md->mltpx == MLTPX_ADD ? 0 : RESX);
apply_offset_and_curve = false;
@@ -3803,6 +3834,7 @@ void perOut(uint8_t mode, uint8_t tick10ms)
//========== SPEED ===============
// now its on input side, but without weight compensation. More like other remote controls
// lower weight causes slower movement
if (mode <= e_perout_mode_inactive_phase && (md->speedUp || md->speedDown)) { // there are delay values
#define DEL_MULT_SHIFT 8
// we recale to a mult 256 higher value for calculation
@@ -3963,17 +3995,25 @@ void doMixerCalculations()
PORTH |= 0x40; // PORTH:6 LOW->HIGH signals start of mixer interrupt
#endif
static tmr10ms_t lastTMR;
static tmr10ms_t lastTMR = 0;
tmr10ms_t tmr10ms = get_tmr10ms();
uint8_t tick10ms = (tmr10ms >= lastTMR ? tmr10ms - lastTMR : 1); // handle tick10ms overrun
//@@@ open.20.fsguruh: correct overflow handling costs a lot of code; happens only each 11 min;
uint8_t tick10ms = (tmr10ms >= lastTMR ? tmr10ms - lastTMR : 1);
// handle tick10ms overrun
// correct overflow handling costs a lot of code; happens only each 11 min;
// therefore forget the exact calculation and use only 1 instead; good compromise
#if !defined(CPUARM)
lastTMR = tmr10ms;
#endif
getADC();
getSwitchesPosition();
getSwitchesPosition(lastTMR == 0);
#if defined(CPUARM)
lastTMR = tmr10ms;
#endif
#if defined(PCBSKY9X) && !defined(REVA) && !defined(SIMU)
Current_analogue = (Current_analogue*31 + s_anaFilt[8] ) >> 5 ;
@@ -4636,7 +4676,7 @@ void perMain()
checkBacklight();
#if defined(FRSKY) || defined(MAVLINK)
#if !defined(CPUARM) && (defined(FRSKY) || defined(MAVLINK))
telemetryWakeup();
#endif
@@ -5294,6 +5334,10 @@ void mixerTask(void * pdata)
CoLeaveMutexSection(mixerMutex);
if (tick10ms) checkTrims();
#if defined(FRSKY) || defined(MAVLINK)
telemetryWakeup();
#endif
if (heartbeat == HEART_WDT_CHECK) {
wdt_reset();
heartbeat = 0;