diff --git a/radio/sdcard/horus/S6R/S6R.lua b/radio/sdcard/horus/S6R/S6R.lua index 2f3b07566..742115da4 100755 --- a/radio/sdcard/horus/S6R/S6R.lua +++ b/radio/sdcard/horus/S6R/S6R.lua @@ -16,16 +16,13 @@ local fields = {} local modifications = {} local wingBitmaps = {} local mountBitmaps = {} -local calibBitmaps = {} local configFields = { {"Wing type:", COMBO, 0x80, nil, { "Normal", "Delta", "VTail" } }, {"Mounting type:", COMBO, 0x81, nil, { "Horz", "Horz rev.", "Vert", "Vert rev." } }, } -local calibrationPositions = { "up", "down", "left", "right", "forward", "back" } local wingBitmapsFile = {"img/plane_b.png", "img/delta_b.png", "img/planev_b.png"} local mountBitmapsFile = {"img/up.png", "img/down.png", "img/vert.png", "img/vert-r.png"} -local calibBitmapsFile = {"img/up.png", "img/down.png", "img/left.png", "img/right.png", "img/forward.png", "img/back.png"} local settingsFields = { {"S6R functions:", COMBO, 0x9C, nil, { "Disable", "Enable" } }, @@ -269,53 +266,12 @@ local function runSettingsPage(event) return runFieldsPage(event) end -local function runCalibrationPage(event) - fields = calibrationFields - if refreshIndex == #fields then - refreshIndex = 0 - end - lcd.clear() - drawScreenTitle("S6R", page, #pages) - if(calibrationStep < 6) then - local position = calibrationPositions[1 + calibrationStep] - lcd.drawText(100, 50, "Place the S6R in the following position", TEXT_COLOR) - if calibBitmaps[calibrationStep + 1] == nil then - calibBitmaps[calibrationStep + 1] = Bitmap.open(calibBitmapsFile[calibrationStep + 1]) - end - lcd.drawBitmap(calibBitmaps[calibrationStep + 1], 200, 70) - for index = 1, 3, 1 do - local field = fields[index] - lcd.drawText(70, 80+20*index, field[1]..":", TEXT_COLOR) - lcd.drawNumber(90, 80+20*index, field[4]/10, LEFT+PREC2) - end - - local attr = calibrationState == 0 and INVERS or 0 - lcd.drawText(160, 220, "Press [Enter] when ready", attr) - else - lcd.drawText(160, 50, "Calibration completed", 0) - lcd.drawBitmap(Bitmap.open("img/done.bmp"),200, 100) - lcd.drawText(160, 220, "Press [RTN] when ready", attr) - end - if calibrationStep > 6 and (event == EVT_ENTER_BREAK or event == EVT_EXIT_BREAK) then - return 2 - elseif event == EVT_ENTER_BREAK then - calibrationState = 1 - elseif event == EVT_EXIT_BREAK then - if calibrationStep > 0 then - calibrationStep = 0 - end - end - return 0 - -end - -- Init local function init() current, edit, refreshState, refreshIndex = 1, false, 0, 0 pages = { runConfigPage, runSettingsPage, - runCalibrationPage } end diff --git a/radio/sdcard/horus/S6R/S6R_Calibrate.lua b/radio/sdcard/horus/S6R/S6R_Calibrate.lua new file mode 100755 index 000000000..71c6c44bd --- /dev/null +++ b/radio/sdcard/horus/S6R/S6R_Calibrate.lua @@ -0,0 +1,340 @@ +local VALUE = 0 +local COMBO = 1 + +local COLUMN_2 = 300 + +local edit = false +local page = 1 +local current = 1 +local refreshState = 0 +local refreshIndex = 0 +local calibrationState = 0 +local pageOffset = 0 +local calibrationStep = 0 +local pages = {} +local fields = {} +local modifications = {} +local wingBitmaps = {} +local mountBitmaps = {} +local calibBitmaps = {} + +local configFields = { + {"Wing type:", COMBO, 0x80, nil, { "Normal", "Delta", "VTail" } }, + {"Mounting type:", COMBO, 0x81, nil, { "Horz", "Horz rev.", "Vert", "Vert rev." } }, +} +local calibrationPositions = { "up", "down", "left", "right", "forward", "back" } +local wingBitmapsFile = {"img/plane_b.png", "img/delta_b.png", "img/planev_b.png"} +local mountBitmapsFile = {"img/up.png", "img/down.png", "img/vert.png", "img/vert-r.png"} +local calibBitmapsFile = {"img/up.png", "img/down.png", "img/left.png", "img/right.png", "img/forward.png", "img/back.png"} + +local settingsFields = { + {"S6R functions:", COMBO, 0x9C, nil, { "Disable", "Enable" } }, + {"CH5 mode:", COMBO, 0xA8, nil, { "AIL2", "AUX1" } }, + {"CH6 mode:", COMBO, 0xA9, nil, { "ELE2", "AUX2" } }, + {"AIL direction:", COMBO, 0x82, nil, { "Normal", "Invers" }, { 255, 0 } }, + {"ELE direction:", COMBO, 0x83, nil, { "Normal", "Invers" }, { 255, 0 } }, + {"RUD direction:", COMBO, 0x84, nil, { "Normal", "Invers" }, { 255, 0 } }, + {"AIL2 direction:", COMBO, 0x9A, nil, { "Normal", "Invers" }, { 255, 0 } }, + {"ELE2 direction:", COMBO, 0x9B, nil, { "Normal", "Invers" }, { 255, 0 } }, + {"AIL stabilize gain:", VALUE, 0x85, nil, 0, 200, "%"}, + {"ELE stabilize gain:", VALUE, 0x86, nil, 0, 200, "%"}, + {"RUD stabilize gain:", VALUE, 0x87, nil, 0, 200, "%"}, + {"AIL auto level gain:", VALUE, 0x88, nil, 0, 200, "%"}, + {"ELE auto level gain:", VALUE, 0x89, nil, 0, 200, "%"}, + {"ELE upright gain:", VALUE, 0x8C, nil, 0, 200, "%"}, + {"RUD upright gain:", VALUE, 0x8D, nil, 0, 200, "%"}, + {"AIL crab gain:", VALUE, 0x8E, nil, 0, 200, "%"}, + {"RUD crab gain:", VALUE, 0x90, nil, 0, 200, "%"}, + {"AIL auto angle offset:", VALUE, 0x91, nil, -20, 20, "%", 0x6C}, + {"ELE auto angle offset:", VALUE, 0x92, nil, -20, 20, "%", 0x6C}, + {"ELE upright angle offset:", VALUE, 0x95, nil, -20, 20, "%", 0x6C}, + {"RUD upright angle offset:", VALUE, 0x96, nil, -20, 20, "%", 0x6C}, + {"AIL crab angle offset:", VALUE, 0x97, nil, -20, 20, "%", 0x6C}, + {"RUD crab angle offset:", VALUE, 0x99, nil, -20, 20, "%", 0x6C}, +} + +local calibrationFields = { + {"X:", VALUE, 0x9E, 0, -100, 100, "%"}, + {"Y:", VALUE, 0x9F, 0, -100, 100, "%"}, + {"Z:", VALUE, 0xA0, 0, -100, 100, "%"} +} + +local function drawScreenTitle(title,page, pages) + lcd.drawFilledRectangle(0, 0, LCD_W, 30, TITLE_BGCOLOR) + lcd.drawText(1, 5, title, MENU_TITLE_COLOR) + lcd.drawText(LCD_W-40, 5, page.."/"..pages, MENU_TITLE_COLOR) +end + +-- Change display attribute to current field +local function addField(step) + local field = fields[current] + local min, max + if field[2] == VALUE then + min = field[5] + max = field[6] + elseif field[2] == COMBO then + min = 0 + max = #(field[5]) - 1 + end + if (step < 0 and field[4] > min) or (step > 0 and field[4] < max) then + field[4] = field[4] + step + end +end + +-- Select the next or previous page +local function selectPage(step) + page = 1 + ((page + step - 1 + #pages) % #pages) + refreshIndex = 0 + calibrationStep = 0 + pageOffset = 0 +end + +-- Select the next or previous editable field +local function selectField(step) + current = 1 + ((current + step - 1 + #fields) % #fields) + if current > 7 + pageOffset then + pageOffset = current - 7 + elseif current <= pageOffset then + pageOffset = current - 1 + end +end + +local function drawProgressBar() + local width = (300 * refreshIndex) / #fields + lcd.drawRectangle(100, 10, 300, 6) + lcd.drawFilledRectangle(102, 13, width, 2); +end + +-- Redraw the current page +local function redrawFieldsPage(event) + lcd.clear() + drawScreenTitle("S6R", page, #pages) + + if refreshIndex < #fields then + drawProgressBar() + end + + for index = 1, 10, 1 do + local field = fields[pageOffset+index] + if field == nil then + break + end + + local attr = current == (pageOffset+index) and ((edit == true and BLINK or 0) + INVERS) or 0 + attr = attr + TEXT_COLOR + + lcd.drawText(1, 30+20*index, field[1], TEXT_COLOR) + + if field[4] == nil then + lcd.drawText(COLUMN_2, 30+20*index, "---", attr) + else + if field[2] == VALUE then + lcd.drawNumber(COLUMN_2, 30+20*index, field[4], LEFT + attr) + elseif field[2] == COMBO then + if field[4] >= 0 and field[4] < #(field[5]) then + lcd.drawText(COLUMN_2, 30+20*index, field[5][1+field[4]], attr) + end + end + end + end +end + +local function telemetryRead(field) + return sportTelemetryPush(0x17, 0x30, 0x0C30, field) +end + +local function telemetryWrite(field, value) + return sportTelemetryPush(0x17, 0x31, 0x0C30, field + value*256) +end + +local telemetryPopTimeout = 0 +local function refreshNext() + if refreshState == 0 then + if calibrationState == 1 then + if telemetryWrite(0x9D, calibrationStep) == true then + refreshState = 1 + calibrationState = 2 + telemetryPopTimeout = getTime() + 80 -- normal delay is 500ms + end + elseif #modifications > 0 then + telemetryWrite(modifications[1][1], modifications[1][2]) + modifications[1] = nil + elseif refreshIndex < #fields then + local field = fields[refreshIndex + 1] + if telemetryRead(field[3]) == true then + refreshState = 1 + telemetryPopTimeout = getTime() + 80 -- normal delay is 500ms + end + end + elseif refreshState == 1 then + local physicalId, primId, dataId, value = sportTelemetryPop() + if physicalId == 0x1A and primId == 0x32 and dataId == 0x0C30 then + local fieldId = value % 256 + if calibrationState == 2 then + if fieldId == 0x9D then + refreshState = 0 + calibrationState = 0 + calibrationStep = (calibrationStep + 1) % 7 + end + else + local field = fields[refreshIndex + 1] + if fieldId == field[3] then + local value = math.floor(value / 256) + if field[3] >= 0x9E and field[3] <= 0xA0 then + local b1 = value % 256 + local b2 = math.floor(value / 256) + value = b1*256 + b2 + value = value - bit32.band(value, 0x8000) * 2 + end + if field[2] == COMBO and #field == 6 then + for index = 1, #(field[6]), 1 do + if value == field[6][index] then + value = index - 1 + break + end + end + elseif field[2] == VALUE and #field == 8 then + value = value - field[8] + field[5] + end + fields[refreshIndex + 1][4] = value + refreshIndex = refreshIndex + 1 + refreshState = 0 + end + end + elseif getTime() > telemetryPopTimeout then + refreshState = 0 + calibrationState = 0 + end + end +end + +local function updateField(field) + local value = field[4] + if field[2] == COMBO and #field == 6 then + value = field[6][1+value] + elseif field[2] == VALUE and #field == 8 then + value = value + field[8] - field[5] + end + modifications[#modifications+1] = { field[3], value } +end + +-- Main +local function runFieldsPage(event) + if event == EVT_EXIT_BREAK then -- exit script + return 2 + elseif event == EVT_ENTER_BREAK or event == EVT_ROT_BREAK then -- toggle editing/selecting current field + if fields[current][4] ~= nil then + edit = not edit + if edit == false then + updateField(fields[current]) + end + end + elseif edit then + if event == EVT_PLUS_FIRST or event == EVT_ROT_RIGHT or event == EVT_PLUS_REPT then + addField(1) + elseif event == EVT_MINUS_FIRST or event == EVT_ROT_LEFT or event == EVT_MINUS_REPT then + addField(-1) + end + else + if event == EVT_MINUS_FIRST or event == EVT_ROT_RIGHT then + selectField(1) + elseif event == EVT_PLUS_FIRST or event == EVT_ROT_LEFT then + selectField(-1) + end + end + redrawFieldsPage(event) + return 0 +end + +local function runConfigPage(event) + fields = configFields + local result = runFieldsPage(event) + if fields[1][4] ~= nil then + if wingBitmaps[1 + fields[1][4]] == nil then + wingBitmaps[1 + fields[1][4]] = Bitmap.open(wingBitmapsFile[1 + fields[1][4]]) + end + lcd.drawBitmap(wingBitmaps[1 + fields[1][4]], 10, 90) + end + if fields[2][4] ~= nil then + if mountBitmaps[1 + fields[2][4]] == nil then + mountBitmaps[1 + fields[2][4]] = Bitmap.open(mountBitmapsFile[1 + fields[2][4]]) + end + lcd.drawBitmap(mountBitmaps[1 + fields[2][4]], 190, 110) + end + return result +end + +local function runSettingsPage(event) + fields = settingsFields + return runFieldsPage(event) +end + +local function runCalibrationPage(event) + fields = calibrationFields + if refreshIndex == #fields then + refreshIndex = 0 + end + lcd.clear() + drawScreenTitle("S6R", page, #pages) + if(calibrationStep < 6) then + local position = calibrationPositions[1 + calibrationStep] + lcd.drawText(100, 50, "Place the S6R in the following position", TEXT_COLOR) + if calibBitmaps[calibrationStep + 1] == nil then + calibBitmaps[calibrationStep + 1] = Bitmap.open(calibBitmapsFile[calibrationStep + 1]) + end + lcd.drawBitmap(calibBitmaps[calibrationStep + 1], 200, 70) + for index = 1, 3, 1 do + local field = fields[index] + lcd.drawText(70, 80+20*index, field[1]..":", TEXT_COLOR) + lcd.drawNumber(90, 80+20*index, field[4]/10, LEFT+PREC2) + end + + local attr = calibrationState == 0 and INVERS or 0 + lcd.drawText(160, 220, "Press [Enter] when ready", attr) + else + lcd.drawText(160, 50, "Calibration completed", 0) + lcd.drawBitmap(Bitmap.open("img/done.bmp"),200, 100) + lcd.drawText(160, 220, "Press [RTN] when ready", attr) + end + if calibrationStep > 6 and (event == EVT_ENTER_BREAK or event == EVT_EXIT_BREAK) then + return 2 + elseif event == EVT_ENTER_BREAK then + calibrationState = 1 + elseif event == EVT_EXIT_BREAK then + if calibrationStep > 0 then + calibrationStep = 0 + end + end + return 0 + +end + +-- Init +local function init() + current, edit, refreshState, refreshIndex = 1, false, 0, 0 + pages = { + -- runConfigPage, + -- runSettingsPage, + runCalibrationPage + } +end + +-- Main +local function run(event) + if event == nil then + error("Cannot be run as a model script!") + return 2 + elseif event == EVT_PAGE_BREAK or event == EVT_PAGEDN_FIRST then + selectPage(1) + elseif event == EVT_PAGE_LONG or event == EVT_PAGEUP_FIRST then + killEvents(event); + selectPage(-1) + end + + local result = pages[page](event) + refreshNext() + + return result +end + +return { init=init, run=run }