Directory transmitter renamed to radio

2013-12-02 07:13:57 +01:00
parent f4df52a033
commit 942e658c8e
707 changed files with 0 additions and 0 deletions
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+/*
+ * Authors (alphabetical order)
+ * - Andre Bernet <bernet.andre@gmail.com>
+ * - Andreas Weitl
+ * - Bertrand Songis <bsongis@gmail.com>
+ * - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
+ * - Cameron Weeks <th9xer@gmail.com>
+ * - Erez Raviv
+ * - Gabriel Birkus
+ * - Jean-Pierre Parisy
+ * - Karl Szmutny
+ * - Michael Blandford
+ * - Michal Hlavinka
+ * - Pat Mackenzie
+ * - Philip Moss
+ * - Rob Thomson
+ * - Romolo Manfredini <romolo.manfredini@gmail.com>
+ * - Thomas Husterer
+ *
+ * opentx is based on code named
+ * gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
+ * er9x by Erez Raviv: http://code.google.com/p/er9x/,
+ * and the original (and ongoing) project by
+ * Thomas Husterer, th9x: http://code.google.com/p/th9x/
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ */
+
+/*
+ *
+ * ============================================================
+ * Templates file
+ *
+ * eccpm
+ * crow
+ * throttle cut
+ * flaperon
+ * elevon
+ * v-tail
+ * throttle hold
+ * Aileron Differential
+ * Spoilers
+ * Snap Roll
+ * ELE->Flap
+ * Flap->ELE
+ *
+ */
+
+#include "opentx.h"
+
+MixData* setDest(uint8_t dch, uint8_t src, bool clear=false)
+{
+  uint8_t i = 0;
+  MixData * mix;
+
+  while (1) {
+    mix = mixAddress(i);
+    if (mix->srcRaw && mix->destCh <= dch) {
+      if (clear && mix->destCh == dch)
+        deleteExpoMix(0, i);
+      else {
+        if (++i==MAX_MIXERS) {
+          // TODO should return null pointer but needs to be tested then
+          mix = mixAddress(0);
+          break;
+        }
+      }
+    }
+    else {
+      break;
+    }
+  }
+
+  memmove(mix+1, mix, (MAX_MIXERS-(i+1))*sizeof(MixData) );
+  memclear(mix, sizeof(MixData));
+  mix->destCh = dch;
+  mix->srcRaw = src;
+  mix->weight = 100;
+  return mix;
+}
+
+void mixSetWeight(MixData* md, int8_t weight)
+{
+  u_int8int16_t tmp;
+  tmp.word=weight;
+  MD_UNION_TO_WEIGHT(tmp,md);
+  // MD_SETWEIGHT(md,weight);  doesn't matter here in code cost compiler optimizes this anyway
+}
+
+#if defined(PCBTARANIS)
+void clearInputs()
+{
+  memset(g_model.expoData, 0, sizeof(g_model.expoData)); // clear all expos
+}
+
+void defaultInputs()
+{
+  clearInputs();
+
+  for (int i=0; i<NUM_STICKS; i++) {
+    s_currCh = i+1;
+    insertExpoMix(1, i);
+    for (int c=0; c<4; c++) {
+      g_model.inputNames[i][c] = char2idx(STR_VSRCRAW[1+STR_VSRCRAW[0]*(expoAddress(i)->srcRaw-MIXSRC_Rud+1)+c]);
+    }
+  }
+  eeDirty(EE_MODEL);
+}
+#define TMPL_INPUT(x) (MIXSRC_FIRST_INPUT+channel_order(x)-1)
+#else
+#define clearInputs()
+#define defaultInputs()
+#define TMPL_INPUT(x) (MIXSRC_Rud+x-1)
+#endif
+
+void clearMixes()
+{
+  memset(g_model.mixData, 0, sizeof(g_model.mixData)); // clear all mixes
+}
+
+void clearCurves()
+{
+  memclear(g_model.curves, sizeof(g_model.curves) + sizeof(g_model.points)); // clear all curves
+}
+
+void setCurve(uint8_t c, const pm_int8_t ar[])
+{
+  int8_t * cv = curveAddress(c);
+  for (uint8_t i=0; i<5; i++) {
+    cv[i] = pgm_read_byte(&ar[i]);
+  }
+}
+
+void setSwitch(uint8_t idx, uint8_t func, int8_t v1, int8_t v2)
+{
+  CustomSwData *cs = cswAddress(idx-1);
+  cs->func = func;
+  cs->v1   = v1;
+  cs->v2   = v2;
+}
+
+const pm_int8_t heli_ar1[] PROGMEM = {-100, 20, 30, 70, 90};
+const pm_int8_t heli_ar2[] PROGMEM = {80, 70, 60, 70, 100};
+const pm_int8_t heli_ar3[] PROGMEM = {100, 90, 80, 90, 100};
+const pm_int8_t heli_ar4[] PROGMEM = {-30, -15, 0, 50, 100};
+const pm_int8_t heli_ar5[] PROGMEM = {-100, -50, 0, 50, 100};
+
+void applyTemplate(uint8_t idx)
+{
+    MixData *md;
+
+    //CC(STK)   -> vSTK
+    //ICC(vSTK) -> STK
+#define ICC(x) icc[(x)-1]
+    uint8_t icc[4] = {0};
+    for (uint8_t i=0; i<4; i++) { //generate inverse array
+      for(uint8_t j=0; j<4; j++)
+        if(CC(i+1)==j+1) icc[j]=i;
+    }
+
+    switch (idx) {
+      case TMPL_CLEAR_MIXES:
+      case TMPL_SIMPLE_4CH:
+      case TMPL_HELI_SETUP:
+        clearMixes();
+        break;
+    }
+
+    switch (idx) {
+      // Simple 4-Ch
+      case TMPL_SIMPLE_4CH:
+        clearInputs();
+        applyDefaultTemplate();
+        break;
+
+      // Sticky-T-Cut
+      case TMPL_STI_THR_CUT:
+        md=setDest(ICC(STK_THR), MIXSRC_MAX); mixSetWeight(md, -100);  md->swtch=SWSRC_SWC;  md->mltpx=MLTPX_REP;
+        md=setDest(13, MIXSRC_CH14); // md->weight= 100; done by setDest anyway
+        md=setDest(13, MIXSRC_MAX); mixSetWeight(md, -100);  md->swtch=SWSRC_SWB;  md->mltpx=MLTPX_REP;
+        md=setDest(13, MIXSRC_MAX); /* md->weight= 100;*/  md->swtch=SWSRC_THR;  md->mltpx=MLTPX_REP;
+        setSwitch(11, CS_VNEG, STK_THR, -99);
+        setSwitch(12, CS_VPOS, MIXSRC_CH14, 0);
+        break;
+
+      // V-Tail
+      case TMPL_V_TAIL:
+        defaultInputs();
+        setDest(ICC(STK_RUD), TMPL_INPUT(STK_RUD), true);
+        md=setDest(ICC(STK_RUD), TMPL_INPUT(STK_ELE)); mixSetWeight(md, -100);
+        setDest(ICC(STK_ELE), TMPL_INPUT(STK_RUD), true);
+        setDest(ICC(STK_ELE), TMPL_INPUT(STK_ELE));
+        break;
+
+      // Elevon\\Delta
+      case TMPL_ELEVON_DELTA:
+        defaultInputs();
+#if defined(PCBTARANIS)
+#warning "Templates below are not implemented (only V-TAIL has been done). Feel free to help!"
+#endif
+        setDest(ICC(STK_ELE), MIXSRC_Ele, true);
+        setDest(ICC(STK_ELE), MIXSRC_Ail);
+        setDest(ICC(STK_AIL), MIXSRC_Ele, true);
+        md=setDest(ICC(STK_AIL), MIXSRC_Ail); mixSetWeight(md, -100);
+        break;
+
+      // eCCPM
+      case TMPL_ECCPM:
+        md=setDest(ICC(STK_ELE), MIXSRC_Ele, true); md->weight= 72;
+        md=setDest(ICC(STK_ELE), MIXSRC_Thr);  md->weight= 55;
+        md=setDest(ICC(STK_AIL), MIXSRC_Ele, true);  mixSetWeight(md, -36);
+        md=setDest(ICC(STK_AIL), MIXSRC_Ail);  md->weight= 62;
+        md=setDest(ICC(STK_AIL), MIXSRC_Thr);  md->weight= 55;
+        md=setDest(5, MIXSRC_Ele, true);       mixSetWeight(md, -36);
+        md=setDest(5, MIXSRC_Ail);             mixSetWeight(md, -62);
+        md=setDest(5, MIXSRC_Thr);             md->weight= 55;
+        break;
+
+      // Heli Setup
+      case TMPL_HELI_SETUP:
+        clearCurves();
+
+        //Set up Mixes
+        // 3 cyclic channels
+        md=setDest(0, MIXSRC_CYC1); // md->weight=100;
+        md=setDest(1, MIXSRC_CYC2); // md->weight=100;
+        md=setDest(2, MIXSRC_CYC3); // md->weight=100;
+
+        // rudder
+        md=setDest(3, MIXSRC_Rud); // md->weight=100;
+
+        // throttle
+#if defined(PCBTARANIS)
+        // TODO
+#else
+        md=setDest(4, MIXSRC_Thr); md->swtch=SWSRC_ID0; mixSetCurve(md, 0); md->carryTrim=TRIM_OFF;
+        md=setDest(4, MIXSRC_Thr); md->swtch=SWSRC_ID1; mixSetCurve(md, 1); md->carryTrim=TRIM_OFF;
+        md=setDest(4, MIXSRC_Thr); md->swtch=SWSRC_ID2; mixSetCurve(md, 2); md->carryTrim=TRIM_OFF;
+#endif
+        md=setDest(4, MIXSRC_MAX); mixSetWeight(md, -100); md->swtch=SWSRC_THR;  md->mltpx=MLTPX_REP;
+
+        // gyro gain
+        md=setDest(5, MIXSRC_MAX); md->weight= 30; md->swtch=-SWSRC_GEA;
+        md=setDest(5, MIXSRC_MAX); mixSetWeight(md, -30); md->swtch= SWSRC_GEA;
+   
+        // collective
+#if defined(PCBTARANIS)
+        // TODO
+#else
+        md=setDest(10, MIXSRC_Thr); /*md->weight= 100;*/ md->swtch=SWSRC_ID0; mixSetCurve(md, 3); md->carryTrim=TRIM_OFF;
+        md=setDest(10, MIXSRC_Thr); /*md->weight= 100;*/ md->swtch=SWSRC_ID1; mixSetCurve(md, 4); md->carryTrim=TRIM_OFF;
+        md=setDest(10, MIXSRC_Thr); /*md->weight= 100;*/ md->swtch=SWSRC_ID2; mixSetCurve(md, 5); md->carryTrim=TRIM_OFF;
+#endif
+
+        g_model.swashR.collectiveSource = MIXSRC_CH11;
+        g_model.swashR.type = SWASH_TYPE_120;
+
+        // curves
+        setCurve(0, heli_ar1);
+        setCurve(1, heli_ar2);
+        setCurve(2, heli_ar3);
+        setCurve(3, heli_ar4);
+        setCurve(4, heli_ar5);
+        setCurve(5, heli_ar5);
+        break;
+
+      // Servo Test
+      case TMPL_SERVO_TEST:
+        md=setDest(NUM_CHNOUT-1, MIXSRC_SW1, true); md->weight=110; md->mltpx=MLTPX_ADD; md->delayUp = 6; md->delayDown = 6; md->speedUp = 8; md->speedDown = 8;
+        setSwitch(1, CS_VNEG, MIXSRC_LAST_CH, 0);
+        break;
+
+    default:
+        break;
+
+    }
+
+    eeDirty(EE_MODEL);
+}