piotr/edgetx-gx12
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Removed FlySky digital hall gimbal double value conversion (first using the FlySky factory calibration values min,mid and max to convert to 0 to 4095 and second to convert this value again into EdgeTX internal 11-bit range 0 to 2047).

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This has the added benefit of precision increase and also avoiding unnecessary computation. Needed to change to uint32_t, as the jitter removal computation would otherwise go over the 16-bit range. As 16-bit computation can be left for "normal" sticks, added a special define just for FLYSKY_HALL_STICKS.

In addition this PR changes back the radio analogs diagnose page second column also for FlySky digital hall sticks to show +/- 100 again, as now with first and second column we already cover all internal ranges used.

Tested on RM TX16S with FlySky digital hall sticks.
This commit is contained in:
rotorman
2021-09-21 08:11:26 +02:00
committed by Risto
parent e51ffb110a
commit 9570f8595a
5 changed files with 25 additions and 110 deletions
Download Patch File Download Diff File Expand all files Collapse all files
radio/src/gui/colorlcd/radio_diaganas.cpp
+1 -1
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@@ -59,7 +59,7 @@ class RadioAnalogsDiagsWindow: public Window {
dc->drawNumber(x, y, i + 1, LEADING0 | LEFT, 2);
dc->drawText(x + 2 * 15 - 2, y, ":");
dc->drawNumber(x + 3 * 15 - 1, y, hall_raw_values[i], LEFT);
dc->drawNumber(x + ANA_OFFSET, y, hall_adc_values[i], RIGHT);
dc->drawNumber(x + ANA_OFFSET, y, (int16_t) calibratedAnalogs[CONVERT_MODE(i)] * 25 / 256, RIGHT);
}
for (uint8_t i = FLYSKY_HALL_CHANNEL_COUNT; i < NUM_STICKS + NUM_POTS + NUM_SLIDERS; i++) {
radio/src/opentx.cpp
+11 -2
View File
@@ -1020,8 +1020,12 @@ void checkTrims()
}
#if !defined(SIMU)
#if defined(FLYSKY_HALL_STICKS)
uint32_t s_anaFilt[NUM_ANALOGS];
#else
uint16_t s_anaFilt[NUM_ANALOGS];
#endif
#endif
#if defined(JITTER_MEASURE)
JitterMeter<uint16_t> rawJitter[NUM_ANALOGS];
@@ -1064,9 +1068,8 @@ void getADC()
DEBUG_TIMER_STOP(debugTimerAdcRead);
for (uint8_t x=0; x<NUM_ANALOGS; x++) {
uint16_t v;
#if defined(FLYSKY_HALL_STICKS)
uint32_t v;
if (x < 4) {
v = get_flysky_hall_adc_value(x) >> (1 - ANALOG_SCALE);
} else {
@@ -1085,6 +1088,7 @@ void getADC()
#endif
}
#else
uint16_t v;
v = getAnalogValue(x) >> (1 - ANALOG_SCALE);
#endif
@@ -1122,8 +1126,13 @@ void getADC()
// Variables mapping:
// * <in> = v
// * <out> = s_anaFilt[x]
#if defined(FLYSKY_HALL_STICKS)
uint32_t previous = s_anaFilt[x] / JITTER_ALPHA;
uint32_t diff = (v > previous) ? (v - previous) : (previous - v);
#else
uint16_t previous = s_anaFilt[x] / JITTER_ALPHA;
uint16_t diff = (v > previous) ? (v - previous) : (previous - v);
#endif
if (!g_eeGeneral.jitterFilter && diff < (10*ANALOG_MULTIPLIER)) { // g_eeGeneral.jitterFilter is inverted, 0 - active
// apply jitter filter
s_anaFilt[x] = (s_anaFilt[x] - previous) + v;
radio/src/opentx.h
+4
View File
@@ -1280,8 +1280,12 @@ extern Clipboard clipboard;
#endif
#if !defined(SIMU)
#if defined(FLYSKY_HALL_STICKS)
extern uint32_t s_anaFilt[NUM_ANALOGS];
#else
extern uint16_t s_anaFilt[NUM_ANALOGS];
#endif
#endif
#if defined(JITTER_MEASURE)
extern JitterMeter<uint16_t> rawJitter[NUM_ANALOGS];
radio/src/targets/horus/flyskyHallStick_driver.cpp
+7 -81
View File
@@ -29,7 +29,6 @@ unsigned char HallCmd[264] __DMA;
STRUCT_HALL HallProtocol = { 0 };
STRUCT_HALL HallProtocolTx = { 0 };
signed short hall_raw_values[FLYSKY_HALL_CHANNEL_COUNT];
STRUCT_STICK_CALIBRATION hall_calibration[FLYSKY_HALL_CHANNEL_COUNT] = { {0, 0, 0} };
unsigned short hall_adc_values[FLYSKY_HALL_CHANNEL_COUNT];
/* crc16 implementation according to CCITT standards */
@@ -93,11 +92,11 @@ uint16_t get_flysky_hall_adc_value(uint8_t ch)
#if defined(FLYSKY_HALL_STICKS_REVERSE)
ch = sticks_mapping[ch];
return MAX_ADC_CHANNEL_VALUE - hall_adc_values[ch];
return 2*FLYSKY_OFFSET_VALUE - hall_adc_values[ch];
#else
if (ch < 2)
{
return MAX_ADC_CHANNEL_VALUE - hall_adc_values[ch];
return 2*FLYSKY_OFFSET_VALUE - hall_adc_values[ch];
}
return hall_adc_values[ch];
@@ -153,7 +152,6 @@ uint8_t HallGetByte(uint8_t * byte)
return hallDMAFifo.pop(*byte);
}
void reset_hall_stick( void )
{
unsigned short crc16 = 0xffff;
@@ -171,23 +169,6 @@ void reset_hall_stick( void )
HallSendBuffer( HallCmd, 6);
}
void get_hall_config( void )
{
unsigned short crc16 = 0xffff;
HallCmd[0] = FLYSKY_HALL_PROTOLO_HEAD;
HallCmd[1] = 0xD1;
HallCmd[2] = 0x01;
HallCmd[3] = 0x00;
crc16 = calc_crc16(HallCmd, 4); // 2B 2C
HallCmd[4] = crc16 & 0xff;
HallCmd[5] = crc16 >>8 & 0xff ;
HallSendBuffer( HallCmd, 6);
}
void flysky_hall_stick_init()
{
NVIC_InitTypeDef NVIC_InitStructure;
@@ -325,45 +306,9 @@ exit:
return;
}
void convert_hall_to_adc_value( void )
{
uint16_t value;
for ( uint8_t channel = 0; channel < 4; channel++ )
{
if (hall_raw_values[channel] < hall_calibration[channel].mid)
{
value = hall_calibration[channel].mid - (hall_calibration[channel].min+FLYSKY_HALL_ERROR_OFFSET);
value = ( MIDDLE_ADC_CHANNLE_VALUE * (hall_calibration[channel].mid - hall_raw_values[channel] ) ) / ( value );
if (value >= MIDDLE_ADC_CHANNLE_VALUE ) {
value = MIDDLE_ADC_CHANNLE_VALUE;
}
hall_adc_values[channel] = MIDDLE_ADC_CHANNLE_VALUE - value;
}
else
{
value = (hall_calibration[channel].max - FLYSKY_HALL_ERROR_OFFSET) - hall_calibration[channel].mid;
value = ( MIDDLE_ADC_CHANNLE_VALUE * (hall_raw_values[channel] - hall_calibration[channel].mid ) ) / (value );
if (value >= MIDDLE_ADC_CHANNLE_VALUE )
{
value = MIDDLE_ADC_CHANNLE_VALUE;
}
hall_adc_values[channel] = MIDDLE_ADC_CHANNLE_VALUE + value + 1;
}
}
}
/* Run it in 1ms timer routine */
void flysky_hall_stick_loop(void)
{
static tmr10ms_t lastConfigTime = get_tmr10ms();
bool log = 0;
uint8_t byte;
while(HallGetByte(&byte))
@@ -379,34 +324,15 @@ void flysky_hall_stick_loop(void)
switch ( HallProtocol.hallID.hall_Id.receiverID )
{
case TRANSFER_DIR_TXMCU:
if(HallProtocol.hallID.hall_Id.packetID == FLYSKY_HALL_RESP_TYPE_CALIB) {
memcpy(&hall_calibration, HallProtocol.data, sizeof(hall_calibration));
}
else if(HallProtocol.hallID.hall_Id.packetID == FLYSKY_HALL_RESP_TYPE_VALUES) {
if(HallProtocol.hallID.hall_Id.packetID == FLYSKY_HALL_RESP_TYPE_VALUES) {
memcpy(hall_raw_values, HallProtocol.data, sizeof(hall_raw_values));
convert_hall_to_adc_value();
for ( uint8_t channel = 0; channel < 4; channel++ )
{
hall_adc_values[channel] = FLYSKY_OFFSET_VALUE + hall_raw_values[channel];
}
}
break;
}
}
}
//check periodically if calibration is correct
if (get_tmr10ms() - lastConfigTime > 200)
{
//invalid calibration
if(hall_calibration[0].max - hall_calibration[0].min < 1024) {
TRACE("GET HALL CONFIG");
get_hall_config();
lastConfigTime = get_tmr10ms();
}
if (log)
{
for (int idx = 0; idx < HallProtocol.length + 5; idx++)
{
TRACE_NOCRLF(" %02X", *((uint8_t*)&HallProtocol + idx));
}
TRACE(";");
}
}
}
radio/src/targets/horus/flyskyHallStick_driver.h
+2 -26
View File
@@ -23,28 +23,10 @@
#define FLYSKY_HALL_BAUDRATE ( 921600 )
#define FLYSKY_HALL_CHANNEL_COUNT ( 4 )
#define MAX_ADC_CHANNEL_VALUE ( 4095 )
#define MIN_ADC_CHANNLE_VALUE ( 0 )
#define MIDDLE_ADC_CHANNLE_VALUE ( 2047 )
#define FLYSKY_OFFSET_VALUE ( 16384 )
#define FLYSKY_HALL_PROTOLO_HEAD 0x55
#define FLYSKY_HALL_RESP_TYPE_CALIB 0x0e
#define FLYSKY_HALL_RESP_TYPE_VALUES 0x0c
#define FLYSKY_HALL_ERROR_OFFSET 10
typedef struct
{
signed short min;
signed short mid;
signed short max;
} STRUCT_STICK_CALIBRATION;
typedef struct
{
STRUCT_STICK_CALIBRATION sticksCalibration[4];
unsigned char reststate;
unsigned short CRC16;
} STRUCT_STICK_CALIBRATION_PACK;
typedef struct
{
@@ -53,12 +35,6 @@ typedef struct
unsigned short CRC16;
} STRUCT_CHANNEL_PACK;
typedef union
{
STRUCT_STICK_CALIBRATION_PACK channelPack;
STRUCT_CHANNEL_PACK sticksCalibrationPack;
} UNION_DATA;
typedef struct
{
unsigned char start;
@@ -66,7 +42,7 @@ typedef struct
unsigned char receiverID:2;
unsigned char packetID:4;
unsigned char length;
UNION_DATA payload;
STRUCT_CHANNEL_PACK payload;
} STRUCT_HALLDATA;
typedef struct