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[all] The delays now apply to mixes without a trigger (phase / switch), but with a 3POS switch.

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[all] The "bolded mixers" (bolded, and beeping if beep selected) follow these rules:
- when a mix has no trigger, it is always bolded
- when a mix doesn't apply to the current phase, it is not bolded, even during fade out (same for expos)
- when a mix is leaving with slow down, it is not bolded
- when there is a delay applied to a mix, it is bolded according to this delay
[stock] All the changes described above even allowed me to save 68 bytes flash and 38 bytes RAM!

As always when the Mixer is partially rewritten, a lot of tests are needed before the next release!
This commit is contained in:
bsongis@gmail.com
2013-05-29 05:37:53 +00:00
parent b593317360
commit ad653ecd0f
3 changed files with 82 additions and 171 deletions
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src/opentx.cpp
+65 -158
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@@ -516,14 +516,6 @@ int16_t applyCurve(int16_t x, int8_t idx)
#define applyCurve(x, idx) (x)
#endif
/* currently not needed
// maybe used in future?
uint16_t divu100(uint32_t A) {
return (((A * 0x47AF) >> 16) + A) >> 7;
}
*/
// #define EXTENDED_EXPO
// increases range of expo curve but costs about 82 bytes flash
@@ -569,31 +561,31 @@ uint16_t divu100(uint32_t A) {
// output between 0 and 1024
uint16_t expou(uint16_t x, uint16_t k)
{
#ifdef EXTENDED_EXPO
#if defined(EXTENDED_EXPO)
bool extended;
if (k>80) {
extended=true;
}
else {
k+=(k>>2); // use bigger values before extend, because the effect is anyway very very low
k += (k>>2); // use bigger values before extend, because the effect is anyway very very low
extended=false;
} // endif k > 50
}
#endif
k=calc100to256(k);
k = calc100to256(k);
uint32_t value = (uint32_t) x*x;
value *= (uint32_t)k;
value >>= 8;
value *= (uint32_t)x;
#ifdef EXTENDED_EXPO
#if defined(EXTENDED_EXPO)
if (extended) { // for higher values do more multiplications to get a stronger expo curve
value>>=16;
value*=(uint32_t)x;
value>>=4;
value*=(uint32_t)x;
} //endif extend
value >>= 16;
value *= (uint32_t)x;
value >>= 4;
value *= (uint32_t)x;
}
#endif
value >>= 12;
@@ -618,61 +610,17 @@ int16_t expo(int16_t x, int16_t k)
return neg? -y : y;
}
// isn't the following useless? wouldn't be called even if EXTENDED_EXPO is defined
/*
#ifdef EXTENDED_EXPO
/// expo with y-offset
class Expo
{
uint16_t c;
int16_t d,drx;
public:
void init(uint8_t k, int8_t yo);
static int16_t expou(uint16_t x,uint16_t c, int16_t d);
int16_t expo(int16_t x);
};
void Expo::init(uint8_t k, int8_t yo)
{
c = (uint16_t) k * 256 / 100;
d = (int16_t) yo * 256 / 100;
drx = d * ((uint16_t)RESXu/256);
}
int16_t Expo::expou(uint16_t x,uint16_t c, int16_t d)
{
uint16_t a = 256 - c - d;
if( (int16_t)a < 0 ) a = 0;
// a x^3 + c x + d
// 9 18 27 11 20 18
uint32_t res = ((uint32_t)x * x * x / 0x10000 * a / (RESXul*RESXul/0x10000) +
(uint32_t)x * c
) / 256;
return (int16_t)res;
}
int16_t Expo::expo(int16_t x)
{
if(c==256 && d==0) return x;
if(x>=0) return expou(x,c,d) + drx;
return -expou(-x,c,-d) + drx;
}
#endif
*/
#ifdef BOLD_FONT
ACTIVE_EXPOS_TYPE activeExpos;
#endif
void applyExpos(int16_t *anas)
void applyExpos(int16_t *anas, uint8_t mode)
{
int16_t anas2[NUM_INPUTS]; // values before expo, to ensure same expo base when multiple expo lines are used
memcpy(anas2, anas, sizeof(anas2));
int8_t cur_chn = -1;
#ifdef BOLD_FONT
activeExpos = 0;
#endif
for (uint8_t i=0; i<MAX_EXPOS; i++) {
#if defined(BOLD_FONT)
if (mode==e_perout_mode_normal) swOn[i].activeExpo = false;
#endif
ExpoData &ed = g_model.expoData[i];
if (ed.mode==0) break; // end of list
if (ed.chn == cur_chn)
@@ -682,8 +630,8 @@ void applyExpos(int16_t *anas)
if (getSwitch(ed.swtch, 1)) {
int16_t v = anas2[ed.chn];
if((v<0 && (ed.mode&1)) || (v>=0 && (ed.mode&2))) {
#ifdef BOLD_FONT
activeExpos |= ((ACTIVE_EXPOS_TYPE)1 << i);
#if defined(BOLD_FONT)
if (mode==e_perout_mode_normal) swOn[i].activeExpo = true;
#endif
cur_chn = ed.chn;
int8_t curveParam = ed.curveParam;
@@ -2181,14 +2129,13 @@ int16_t rawAnas [NUM_INPUTS] = {0};
int16_t anas [NUM_INPUTS] = {0};
int16_t trims[NUM_STICKS] = {0};
int32_t chans[NUM_CHNOUT] = {0};
uint8_t inacPrescale;
uint8_t inacPrescale;
uint16_t inacCounter = 0;
uint16_t inacSum = 0;
BeepANACenter bpanaCenter = 0;
uint16_t sDelay[MAX_MIXERS] = {0};
int24_t act [MAX_MIXERS] = {0};
uint8_t swOn [MAX_MIXERS] = {0};
int24_t act [MAX_MIXERS] = {0};
SwOn swOn [MAX_MIXERS]; // TODO better name later...
uint8_t mixWarning;
@@ -2286,7 +2233,7 @@ BeepANACenter evalSticks(uint8_t mode)
}
if (ch < NUM_STICKS) { //only do this for sticks
if (mode == e_perout_mode_normal && (isFunctionActive(FUNC_TRAINER) || isFunctionActive(FUNC_TRAINER_RUD+ch))) {
if (mode <= e_perout_mode_inactive_phase && (isFunctionActive(FUNC_TRAINER) || isFunctionActive(FUNC_TRAINER_RUD+ch))) {
// trainer mode
TrainerMix* td = &g_eeGeneral.trainer.mix[ch];
if (td->mode) {
@@ -2312,7 +2259,7 @@ BeepANACenter evalSticks(uint8_t mode)
}
/* EXPOs */
applyExpos(anas);
applyExpos(anas, mode);
/* TRIMs */
evalTrims();
@@ -2873,6 +2820,10 @@ void perOut(uint8_t mode, uint8_t tick10ms)
for (uint8_t i = 0; i < MAX_MIXERS; i++) {
#if defined(BOLD_FONT)
if (mode==e_perout_mode_normal && pass==0) swOn[i].activeMix = 0;
#endif
MixData *md = mixaddress(i);
if (md->srcRaw == 0) break;
@@ -2883,11 +2834,11 @@ void perOut(uint8_t mode, uint8_t tick10ms)
//========== PHASE && SWITCH =====
bool mixCondition = (md->phases != 0 || md->swtch);
bool mixEnabled = !(md->phases & (1 << s_perout_flight_phase)) && getSwitch(md->swtch, 1);
int8_t mixEnabled = !(md->phases & (1 << s_perout_flight_phase)) && getSwitch(md->swtch, 1);
//========== VALUE ===============
getvalue_t v = 0;
if (mode != e_perout_mode_normal) {
if (mode > e_perout_mode_inactive_phase) {
if (!mixEnabled || k >= NUM_STICKS || (k == THR_STICK && g_model.thrTrim)) {
continue;
}
@@ -2899,11 +2850,10 @@ void perOut(uint8_t mode, uint8_t tick10ms)
if (k < NUM_STICKS) {
v = md->noExpo ? rawAnas[k] : anas[k]; //Switch is on. MAX=FULL=512 or value.
}
#if defined(PCBTARANIS)
else {
v = getValue(k);
if ((k == MIXSRC_SF-1) || (k >= MIXSRC_SH-1 && k <= MIXSRC_LAST_CSW-1)) {
if (v < 0 && !mixCondition) mixEnabled = false;
if (!mixCondition && k >= MIXSRC_FIRST_SWITCH-1 && k <= MIXSRC_LAST_CSW-1) {
mixEnabled = v >> 10;
}
if (k>=MIXSRC_CH1-1 && k<=MIXSRC_LAST_CH-1 && md->destCh != k-MIXSRC_CH1+1) {
if (dirtyChannels & ((bitfield_channels_t)1 << (k-MIXSRC_CH1+1)) & (passDirtyChannels|~(((bitfield_channels_t) 1 << md->destCh)-1)))
@@ -2912,85 +2862,47 @@ void perOut(uint8_t mode, uint8_t tick10ms)
v = chans[k-MIXSRC_CH1+1] >> 8; // remove factor 256 from old mix loop; was 100 before
}
}
#else
else {
v = getValue(k);
if (k >= MIXSRC_THR-1 && k <= MIXSRC_LAST_CSW-1) {
if (v < 0 && !mixCondition) mixEnabled = false;
}
else if (k>=MIXSRC_CH1-1 && k<=MIXSRC_LAST_CH-1 && md->destCh != k-MIXSRC_CH1+1) {
if (dirtyChannels & ((bitfield_channels_t)1 << (k-MIXSRC_CH1+1)) & (passDirtyChannels|~(((bitfield_channels_t) 1 << md->destCh)-1)))
passDirtyChannels |= (bitfield_channels_t) 1 << md->destCh;
if (k-MIXSRC_CH1+1 < md->destCh || pass > 0)
v = chans[k-MIXSRC_CH1+1] >> 8; // remove factor 256 from old mix loop; was 100 before
}
}
#endif
}
bool apply_offset_and_curve = true;
//========== DELAYS ===============
uint8_t swTog;
if (mixEnabled) { // switch on? (if no switch selected => on)
swTog = !swOn[i];
if (mode == e_perout_mode_normal) {
swOn[i] = true;
if (md->delayUp) {
if (swTog) {
sDelay[i] = (sDelay[i] ? 0 : (md->delayUp * (100/DELAY_STEP)));
}
if (sDelay[i] > 0) { // perform delay
sDelay[i] = max<int16_t>(0, (int16_t)sDelay[i] - tick10ms);
if (!mixCondition) {
v = -1024;
}
else {
continue;
}
}
}
if (md->mixWarn) lv_mixWarning |= 1 << (md->mixWarn - 1); // Mix warning
}
int8_t _swOn = swOn[i].now;
int8_t _swPrev = swOn[i].prev;
bool swTog = (mixEnabled != _swOn);
// if (i==0) { printf("mixEnabled=%d swOn=%d swPrev=%d sDelay=%d mixCondition=%d\n", mixEnabled, _swOn, _swPrev, sDelay[i], mixCondition); fflush(stdout); }
if (swTog) {
if (!swOn[i].delay) _swPrev = _swOn;
swOn[i].delay = (mixEnabled > _swOn ? md->delayUp : md->delayDown) * (100/DELAY_STEP);
swOn[i].now = mixEnabled;
swOn[i].prev = _swPrev;
}
else {
bool has_delay = false;
swTog = swOn[i];
swOn[i] = false;
if (md->delayDown) {
uint16_t delay = sDelay[i];
if (swTog) {
delay = (delay ? 0 : (md->delayDown * (100/DELAY_STEP)));
if (swOn[i].delay > 0) {
swOn[i].delay = max<int16_t>(0, (int16_t)swOn[i].delay - tick10ms);
if (!mixCondition)
v = _swPrev << 10; // TODO optim?
else if (mixEnabled)
continue;
}
else if (!mixEnabled) {
if (md->speedDown) {
if (md->mltpx == MLTPX_REP) continue;
if (mixCondition) {
v = 0;
apply_offset_and_curve = false;
}
if (delay > 0) { // perform delay
delay = max<int16_t>(0, (int16_t)delay - tick10ms);
if (!mixCondition) v = +1024;
has_delay = true;
}
else if (!mixCondition) {
v = -1024;
}
sDelay[i] = delay;
}
if (!has_delay) {
if (md->speedDown) {
if (md->mltpx == MLTPX_REP) continue;
if (mixCondition) {
v = 0;
apply_offset_and_curve = false;
}
}
else if (mixCondition) {
continue;
}
else if (mixCondition) {
continue;
}
}
#ifdef BOLD_FONT
activeMixes |= ((ACTIVE_MIXES_TYPE)1 << i);
if (mode==e_perout_mode_normal && (!mixCondition || mixEnabled || swOn[i].delay)) {
if (md->mixWarn) lv_mixWarning |= 1 << (md->mixWarn - 1); // Mix warning
#if defined(BOLD_FONT)
swOn[i].activeMix = true;
#endif
}
//========== OFFSET ===============
if (apply_offset_and_curve) {
@@ -3017,7 +2929,7 @@ 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_normal && (md->speedUp || md->speedDown)) { // there are delay values
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
int32_t tact = act[i];
@@ -3081,9 +2993,11 @@ void perOut(uint8_t mode, uint8_t tick10ms)
switch (md->mltpx) {
case MLTPX_REP:
*ptr = dv;
#ifdef BOLD_FONT
for (uint8_t m=i-1; m<MAX_MIXERS && mixaddress(m)->destCh==md->destCh; m--)
activeMixes &= ~((ACTIVE_MIXES_TYPE)1 << m);
#if defined(BOLD_FONT)
if (mode==e_perout_mode_normal) {
for (uint8_t m=i-1; m<MAX_MIXERS && mixaddress(m)->destCh==md->destCh; m--)
swOn[m].activeMix = false;
}
#endif
break;
case MLTPX_MUL:
@@ -3150,9 +3064,6 @@ void perOut(uint8_t mode, uint8_t tick10ms)
#define TIME_TO_WRITE() (s_eeDirtyMsk && (tmr10ms_t)(get_tmr10ms() - s_eeDirtyTime10ms) >= (tmr10ms_t)WRITE_DELAY_10MS)
#ifdef BOLD_FONT
ACTIVE_MIXES_TYPE activeMixes;
#endif
int32_t sum_chans512[NUM_CHNOUT] = {0};
#if defined(CPUARM)
@@ -3173,10 +3084,6 @@ void doMixerCalculations()
// therefore forget the exact calculation and use only 1 instead; good compromise
lastTMR = tmr10ms;
#if defined(BOLD_FONT)
activeMixes = 0;
#endif
getADC();
#if defined(PCBSKY9X) && !defined(REVA) && !defined(SIMU)
@@ -3236,7 +3143,7 @@ void doMixerCalculations()
for (uint8_t p=0; p<MAX_PHASES; p++) {
if (s_fade_flight_phases & ((ACTIVE_PHASES_TYPE)1 << p)) {
s_perout_flight_phase = p;
perOut(e_perout_mode_normal, tick10ms);
perOut(p==phase?e_perout_mode_normal:e_perout_mode_inactive_phase, tick10ms);
for (uint8_t i=0; i<NUM_CHNOUT; i++)
sum_chans512[i] += (chans[i] >> 4) * fp_act[p];
weight += fp_act[p];