piotr/edgetx-gx12
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FrSky did introduce 2us jitter since last optimization

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Makefile minor update
Google tests fixed
Momentary switches in FUNC SWITCHES screen (not finished)
Trim parameter in Mixer is OFF if the source is not a stick
This commit is contained in:
bsongis
2012-03-01 21:10:18 +00:00
parent 71e2456371
commit bd7ab010ca
12 changed files with 161 additions and 120 deletions
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src/open9x.cpp
+26 -26
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@@ -294,7 +294,6 @@ void applyExpos(int16_t *anas, uint8_t phase)
}
/*TODO evaluate impact FORCEINLINE */
bool s_noStickInputs = false;
int16_t getValue(uint8_t i)
{
if(i<NUM_STICKS+NUM_POTS) return calibratedStick[i];
@@ -985,28 +984,24 @@ uint8_t mixWarning;
FORCEINLINE void evalTrims(uint8_t phase)
{
for (uint8_t i=0; i<NUM_STICKS; i++) {
if (s_noStickInputs && i==THR_STICK) {
trims[i] = 0;
// do trim -> throttle trim if applicable
int16_t v = anas[i];
int32_t vv = 2*RESX;
int16_t trim = getTrimValue(getTrimFlightPhase(i, phase), i);
if (i==THR_STICK && g_model.thrTrim) {
if (g_eeGeneral.throttleReversed)
trim = -trim;
vv = ((int32_t)trim-TRIM_MIN)*(RESX-v)/(2*RESX);
}
else if (trimsCheckTimer > 0) {
trim = 0;
}
else {
// do trim -> throttle trim if applicable
int16_t v = anas[i];
int32_t vv = 2*RESX;
int16_t trim = getTrimValue(getTrimFlightPhase(i, phase), i);
if (i==THR_STICK && g_model.thrTrim) {
if (g_eeGeneral.throttleReversed)
trim = -trim;
vv = ((int32_t)trim-TRIM_MIN)*(RESX-v)/(2*RESX);
}
else if (trimsCheckTimer > 0) {
trim = 0;
}
trims[i] = (vv==2*RESX) ? trim*2 : (int16_t)vv*2; // if throttle trim -> trim low end
}
trims[i] = (vv==2*RESX) ? trim*2 : (int16_t)vv*2; // if throttle trim -> trim low end
}
}
bool s_noTrainerInput = false;
uint8_t evalSticks(uint8_t phase)
{
#ifdef HELI
@@ -1047,7 +1042,7 @@ uint8_t evalSticks(uint8_t phase)
if (tmp <= 1) anaCenter |= (tmp==0 ? 1<<ch : bpanaCenter & (1<<ch));
if (ch < NUM_STICKS) { //only do this for sticks
if (!s_noStickInputs && (isFunctionActive(FUNC_TRAINER) || isFunctionActive(FUNC_TRAINER_RUD+ch))) {
if (!s_noTrainerInput && (isFunctionActive(FUNC_TRAINER) || isFunctionActive(FUNC_TRAINER_RUD+ch))) {
// trainer mode
TrainerMix* td = &g_eeGeneral.trainer.mix[ch];
if (td->mode) {
@@ -1244,9 +1239,6 @@ void perOut(int16_t *chanOut, uint8_t phase)
v = anas[k]; //Switch is on. MAX=FULL=512 or value.
if (k>=CHOUT_BASE && (k<i)) v = chans[k]; // if we've already calculated the value - take it instead // anas[i+CHOUT_BASE] = chans[i]
if (md->mixWarn) mixWarning |= 1<<(md->mixWarn-1); // Mix warning
if (md->carryTrim == 2/*TODO constant*/ && md->srcRaw <= NUM_STICKS) {
s_trimPtr[md->srcRaw-1] = &md->sOffset; // use the value stored here for the trim
}
}
//========== INPUT OFFSET ===============
@@ -1305,8 +1297,16 @@ void perOut(int16_t *chanOut, uint8_t phase)
if (md->curve)
v = applyCurve(v, md->curve, md->srcRaw);
//========== TRIM ===============
if((md->carryTrim==0) && (md->srcRaw>0) && (md->srcRaw<=4)) v += trims[md->srcRaw-1]; // 0 = Trim ON = Default
//========== TRIMS ===============
if (md->srcRaw>0 && md->srcRaw<=NUM_STICKS) {
if (md->carryTrim == TRIM_ON) {
v += trims[md->srcRaw-1];
}
if (md->carryTrim == TRIM_OFFSET) {
v = md->sOffset;
s_trimPtr[md->srcRaw-1] = &md->sOffset; // use the value stored here for the trim
}
}
//========== MULTIPLEX ===============
int32_t dv = (int32_t)v*md->weight;
@@ -2019,9 +2019,9 @@ void instantTrim()
if (i!=THR_STICK) {
// don't instant trim the throttle stick
uint8_t trim_phase = getTrimFlightPhase(i, phase);
s_noStickInputs = true;
s_noTrainerInput = true;
evalSticks(phase);
s_noStickInputs = false;
s_noTrainerInput = false;
int16_t trim = (anas[i] + trims[i]) / 2;
if (trim < TRIM_EXTENDED_MIN) {
trim = TRIM_EXTENDED_MIN;