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Some RAM saved in getADC functions (port from er9x). Reverse throttle issue 14 solved. Bug in mixer delays. PPM frame length configurable.

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This commit is contained in:
bsongis
2011-11-18 18:45:12 +00:00
parent a9a8947744
commit afe2e339b3
6 changed files with 129 additions and 82 deletions
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src/gruvin9x.cpp
+41 -35
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@@ -757,51 +757,46 @@ uint16_t anaIn(uint8_t chan)
#define ADC_VREF_TYPE 0x40 // AVCC with external capacitor at AREF pin
void getADC_filt()
{
static uint16_t t_ana[3][8];
for (uint8_t adc_input=0;adc_input<8;adc_input++)
{
static uint16_t t_ana[2][8];
for (uint8_t adc_input=0; adc_input<8; adc_input++) {
ADMUX=adc_input|ADC_VREF_TYPE;
// Start the AD conversion
ADCSRA|=0x40;
// Do this while waiting
s_anaFilt[adc_input] = (s_anaFilt[adc_input]/2 + t_ana[1][adc_input]) & 0xFFFE; //gain of 2 on last conversion - clear last bit
t_ana[1][adc_input] = (t_ana[1][adc_input] + t_ana[0][adc_input]) >> 1;
// Wait for the AD conversion to complete
while ((ADCSRA & 0x10)==0);
ADCSRA|=0x10;
s_anaFilt[adc_input] = (s_anaFilt[adc_input]/2 + t_ana[1][adc_input]) & 0xFFFE; //gain of 2 on last conversion - clear last bit
//t_ana[2][adc_input] = (t_ana[2][adc_input] + t_ana[1][adc_input]) >> 1;
t_ana[1][adc_input] = (t_ana[1][adc_input] + t_ana[0][adc_input]) >> 1;
t_ana[0][adc_input] = (t_ana[0][adc_input] + ADCW ) >> 1;
}
}
/*
s_anaFilt[chan] = (s_anaFilt[chan] + sss_ana[chan]) >> 1;
sss_ana[chan] = (sss_ana[chan] + ss_ana[chan]) >> 1;
ss_ana[chan] = (ss_ana[chan] + s_ana[chan]) >> 1;
s_ana[chan] = (ADC + s_ana[chan]) >> 1;
*/
void getADC_osmp()
{
uint16_t temp_ana[8] = {0};
for (uint8_t adc_input=0;adc_input<8;adc_input++)
{
ADMUX=adc_input|ADC_VREF_TYPE; // TODO now it is done only one time before the loop, is it good?
uint16_t temp_ana;
for (uint8_t adc_input=0; adc_input<8; adc_input++) {
temp_ana = 0;
ADMUX = adc_input|ADC_VREF_TYPE;
for (uint8_t i=0; i<4;i++) { // Going from 10bits to 11 bits. Addition = n. Loop 4^n times
// Start the AD conversion
ADCSRA|=0x40;
// Wait for the AD conversion to complete
while ((ADCSRA & 0x10)==0);
ADCSRA|=0x10;
temp_ana[adc_input] += ADCW;
temp_ana += ADCW;
}
s_anaFilt[adc_input] = temp_ana[adc_input] / 2; // divide by 2^n to normalize result.
s_anaFilt[adc_input] = temp_ana / 2; // divide by 2^n to normalize result.
}
}
void getADC_single()
{
for (uint8_t adc_input=0;adc_input<8;adc_input++)
{
for (uint8_t adc_input=0; adc_input<8; adc_input++) {
ADMUX=adc_input|ADC_VREF_TYPE;
// Start the AD conversion
ADCSRA|=0x40;
@@ -812,13 +807,20 @@ void getADC_single()
}
}
getADCp getADC[3] = {
getADC_single,
getADC_osmp,
getADC_filt
};
void getADC_bandgap()
{
#if defined(PCBSTD)
ADMUX=0x1E|ADC_VREF_TYPE; // Switch MUX to internal 1.22V reference
_delay_us(10); // short delay to stablise reference voltage
ADCSRA|=0x40; while ((ADCSRA & 0x10)==0); ADCSRA|=0x10; // grab a sample
ADCSRA|=0x40; while ((ADCSRA & 0x10)==0); ADCSRA|=0x10; // grab a sample
_delay_us(5); // short delay to stablise reference voltage
ADCSRA|=0x40;
while ((ADCSRA & 0x10)==0);
ADCSRA|=0x10; // grab a sample
BandGap=ADCW;
#elif defined (PCBV4)
// For PCB V4, use our own 1.2V, external reference (connected to ADC3)
@@ -846,11 +848,6 @@ void getADC_bandgap()
#endif
}
getADCp getADC[3] = {
getADC_single,
getADC_osmp,
getADC_filt
};
#else
uint16_t BandGap = 225;
#endif
@@ -1104,9 +1101,9 @@ inline void evalTrims()
int32_t vv = 2*RESX;
int16_t trim = getTrimValue(getTrimFlightPhase(i), i);
if (IS_THROTTLE(i) && g_model.thrTrim) {
vv = (g_eeGeneral.throttleReversed) ?
((int32_t)trim+TRIM_MIN)*(RESX+v)/(2*RESX) :
((int32_t)trim-TRIM_MIN)*(RESX-v)/(2*RESX);
if (g_eeGeneral.throttleReversed)
trim = -trim;
vv = ((int32_t)trim-TRIM_MIN)*(RESX-v)/(2*RESX);
}
else if (trimsCheckTimer > 0) {
trim = 0;
@@ -1147,6 +1144,10 @@ uint8_t evalSticks()
if(v <= -RESX) v = -RESX;
if(v >= RESX) v = RESX;
if (g_eeGeneral.throttleReversed && i==THR_STICK)
v = -v;
calibratedStick[i] = v; //for show in expo
if(!(v/16)) anaCenter |= 1<<(CONVERT_MODE((i+1))-1);
@@ -1367,13 +1368,15 @@ void perOut(int16_t *chanOut)
if(diff) sDelay[i] = (diff<0 ? md->delayUp : md->delayDown) * 100;
}
if(sDelay[i]){ // perform delay
if(tick10ms) sDelay[i]--;
v = act[i]/DEL_MULT;
if (sDelay[i]) { // perform delay
if(tick10ms) sDelay[i]--;
if (sDelay[i] != 0) {
v = act[i]/DEL_MULT; // Stay in old position until delay over
diff = 0;
}
}
if(diff && (md->speedUp || md->speedDown)){
if (diff && (md->speedUp || md->speedDown)) {
//rate = steps/sec => 32*1024/100*md->speedUp/Down
//act[i] += diff>0 ? (32768)/((int16_t)100*md->speedUp) : -(32768)/((int16_t)100*md->speedDown);
//-100..100 => 32768 -> 100*83886/256 = 32768, For MAX we divide by 2 sincde it's asymmetrical
@@ -1387,6 +1390,9 @@ void perOut(int16_t *chanOut)
if(((diff>0) && (v<(act[i]/DEL_MULT))) || ((diff<0) && (v>(act[i]/DEL_MULT)))) act[i]=(int32_t)v*DEL_MULT; //deal with overflow
v = act[i]/DEL_MULT;
}
else if (diff) {
act[i]=(int32_t)v*DEL_MULT;
}
}
//========== CURVES ===============