piotr/edgetx-gx12
1
0
Fork 0
Code Issues 2 Pull Requests Actions Packages Projects Releases Wiki Activity

[all] Mixer bugs fixed (slow / delays)

Browse Source 
[stock] Flash saving
[stock] PWM backlight fix
[stock] NAVIGATION=STICKS pulled from er9x, thanks Mike!
[Taranis] Telemetry logs in DEBUG mode correctly opened / closed (not tested)
This commit is contained in:
bsongis@gmail.com
2013-05-31 19:33:20 +00:00
parent 7e7b1914ff
commit c9171c6d79
15 changed files with 311 additions and 169 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/opentx.cpp
+132 -48
View File
@@ -627,7 +627,7 @@ void applyExpos(int16_t *anas, uint8_t mode)
continue;
if (ed.phases & (1<<s_perout_flight_phase))
continue;
if (getSwitch(ed.swtch, 1)) {
if (getSwitch(ed.swtch)) {
int16_t v = anas2[ed.chn];
if((v<0 && (ed.mode&1)) || (v>=0 && (ed.mode&2))) {
#if defined(BOLD_FONT)
@@ -897,10 +897,9 @@ getvalue_t getValue(uint8_t i)
}
#if defined(CPUARM)
#define GETSWITCH_RECURSIVE_TYPE uint32_t
volatile bool s_default_switch_value;
#define GETSWITCH_RECURSIVE_TYPE uint32_t
#else
#define GETSWITCH_RECURSIVE_TYPE uint16_t
#define GETSWITCH_RECURSIVE_TYPE uint16_t
#endif
volatile GETSWITCH_RECURSIVE_TYPE s_last_switch_used;
@@ -920,11 +919,7 @@ bool __getSwitch(int8_t swtch)
bool result;
if (swtch == 0)
#if defined(CPUARM)
return s_default_switch_value;
#else
return s_last_switch_used & ((GETSWITCH_RECURSIVE_TYPE)1<<15);
#endif
return true;
uint8_t cs_idx = abs(swtch);
@@ -1094,16 +1089,10 @@ bool __getSwitch(int8_t swtch)
return swtch > 0 ? result : !result;
}
bool getSwitch(int8_t swtch, bool nc)
bool getSwitch(int8_t swtch)
{
#if defined(CPUARM)
s_last_switch_used = 0;
s_last_switch_value = 0;
s_default_switch_value = nc;
#else
s_last_switch_used = ((GETSWITCH_RECURSIVE_TYPE)nc<<15);
s_last_switch_value = 0;
#endif
return __getSwitch(swtch);
}
@@ -1195,7 +1184,7 @@ uint8_t getFlightPhase()
{
for (uint8_t i=1; i<MAX_PHASES; i++) {
PhaseData *phase = &g_model.phaseData[i];
if (phase->swtch && getSwitch(phase->swtch, 0)) {
if (phase->swtch && getSwitch(phase->swtch)) {
return i;
}
}
@@ -1511,9 +1500,9 @@ void checkBacklight()
if (tmr10ms != x) {
tmr10ms = x;
uint16_t tsum = stickMoveValue();
if (tsum != inacSum) {
inacSum = tsum;
inacCounter = 0;
if (tsum != inactivity.sum) {
inactivity.sum = tsum;
inactivity.counter = 0;
if (g_eeGeneral.backlightMode & e_backlight_mode_sticks)
backlightOn();
}
@@ -2129,10 +2118,8 @@ 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;
uint16_t inacCounter = 0;
uint16_t inacSum = 0;
BeepANACenter bpanaCenter = 0;
struct t_inactivity inactivity = {0};
int24_t act [MAX_MIXERS] = {0};
SwOn swOn [MAX_MIXERS]; // TODO better name later...
@@ -2489,7 +2476,7 @@ void evalFunctions()
swtch += MAX_SWITCH+1;
}
bool active = getSwitch(swtch, 0);
bool active = getSwitch(swtch);
if (active) newActiveSwitches |= switch_mask;
if (momentary || short_long) {
@@ -2739,8 +2726,7 @@ void perOut(uint8_t mode, uint8_t tick10ms)
}
#if defined(HELI)
if(g_model.swashR.value)
{
if (g_model.swashR.value) {
uint32_t v = ((int32_t)anas[ELE_STICK]*anas[ELE_STICK] + (int32_t)anas[AIL_STICK]*anas[AIL_STICK]);
uint32_t q = calc100toRESX(g_model.swashR.value);
q *= q;
@@ -2755,20 +2741,18 @@ void perOut(uint8_t mode, uint8_t tick10ms)
#define REZ_SWASH_X(x) ((x) - (x)/8 - (x)/128 - (x)/512) // 1024*sin(60) ~= 886
#define REZ_SWASH_Y(x) ((x)) // 1024 => 1024
if(g_model.swashR.type)
{
if (g_model.swashR.type) {
getvalue_t vp = anas[ELE_STICK]+trims[ELE_STICK];
getvalue_t vr = anas[AIL_STICK]+trims[AIL_STICK];
getvalue_t vc = 0;
if (g_model.swashR.collectiveSource)
vc = getValue(g_model.swashR.collectiveSource-1);
if(g_model.swashR.invertELE) vp = -vp;
if(g_model.swashR.invertAIL) vr = -vr;
if(g_model.swashR.invertCOL) vc = -vc;
if (g_model.swashR.invertELE) vp = -vp;
if (g_model.swashR.invertAIL) vr = -vr;
if (g_model.swashR.invertCOL) vc = -vc;
switch (g_model.swashR.type)
{
switch (g_model.swashR.type) {
case SWASH_TYPE_120:
vp = REZ_SWASH_Y(vp);
vr = REZ_SWASH_X(vr);
@@ -2834,7 +2818,7 @@ void perOut(uint8_t mode, uint8_t tick10ms)
//========== PHASE && SWITCH =====
bool mixCondition = (md->phases != 0 || md->swtch);
int8_t 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);
//========== VALUE ===============
getvalue_t v = 0;
@@ -2848,7 +2832,7 @@ void perOut(uint8_t mode, uint8_t tick10ms)
}
else {
if (k < NUM_STICKS) {
v = md->noExpo ? rawAnas[k] : anas[k]; //Switch is on. MAX=FULL=512 or value.
v = md->noExpo ? rawAnas[k] : anas[k];
}
else {
v = getValue(k);
@@ -2859,34 +2843,32 @@ void perOut(uint8_t mode, uint8_t tick10ms)
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
v = chans[k-MIXSRC_CH1+1] >> 8;
}
}
}
bool apply_offset_and_curve = true;
//========== DELAYS ===============
// ========== DELAYS ===============
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 (mode==e_perout_mode_normal && 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;
}
if (swOn[i].delay > 0) {
if (mode==e_perout_mode_normal && swOn[i].delay > 0) {
swOn[i].delay = max<int16_t>(0, (int16_t)swOn[i].delay - tick10ms);
if (!mixCondition)
v = _swPrev << 10; // TODO optim?
v = _swPrev << 10;
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;
@@ -3039,7 +3021,7 @@ void perOut(uint8_t mode, uint8_t tick10ms)
else {
if ((tmp.words_t.hi|0x007F)!=0x007F) tmp.words_t.hi=0x0079; // set to max nearly
}
*ptr=tmp.dword;
*ptr = tmp.dword;
// this implementation saves 18bytes flash
/* dv=*ptr>>8;
@@ -3143,7 +3125,7 @@ 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(p==phase?e_perout_mode_normal:e_perout_mode_inactive_phase, tick10ms);
perOut(p==phase?e_perout_mode_normal:e_perout_mode_inactive_phase, p==phase?tick10ms:0);
for (uint8_t i=0; i<NUM_CHNOUT; i++)
sum_chans512[i] += (chans[i] >> 4) * fp_act[p];
weight += fp_act[p];
@@ -3260,7 +3242,7 @@ void doMixerCalculations()
if (atm>=(TMR_VAROFS+MAX_SWITCH)){ // toggeled switch
if(!(sw_toggled[i] | s_sum[i] | s_cnt[i] | lastSwPos[i])) { lastSwPos[i] = tm < 0; s_sum[i] = 1; } // if initializing then init the lastSwPos
uint8_t swPos = getSwitch(tm>0 ? tm-(TMR_VAROFS+MAX_SWITCH-1) : tm+MAX_SWITCH, 0);
uint8_t swPos = getSwitch(tm>0 ? tm-(TMR_VAROFS+MAX_SWITCH-1) : tm+MAX_SWITCH);
if (swPos && !lastSwPos[i]) sw_toggled[i] = !sw_toggled[i]; // if switch is flipped first time -> change counter state
lastSwPos[i] = swPos;
}
@@ -3298,7 +3280,7 @@ void doMixerCalculations()
}
else {
if (atm<(TMR_VAROFS+MAX_SWITCH))
sw_toggled[i] = tm>0 ? getSwitch(tm-(TMR_VAROFS-1), 0) : !getSwitch(-tm, 0); // normal switch
sw_toggled[i] = tm>0 ? getSwitch(tm-(TMR_VAROFS-1)) : !getSwitch(-tm); // normal switch
if (sw_toggled[i])
newTimerVal++;
}
@@ -3354,8 +3336,11 @@ void doMixerCalculations()
s_time_tot += 100;
s_timeCumTot += 1;
inacCounter++;
if ((((uint8_t)inacCounter)&0x07)==0x01 && g_eeGeneral.inactivityTimer && g_vbat100mV>50 && inacCounter > ((uint16_t)g_eeGeneral.inactivityTimer*60))
struct t_inactivity *ptrInactivity = &inactivity;
FORCE_INDIRECT(ptrInactivity) ;
ptrInactivity->counter++;
if ((((uint8_t)ptrInactivity->counter)&0x07)==0x01 && g_eeGeneral.inactivityTimer && g_vbat100mV>50 && ptrInactivity->counter > ((uint16_t)g_eeGeneral.inactivityTimer*60))
AUDIO_INACTIVITY();
#if defined(AUDIO)
@@ -3448,6 +3433,41 @@ void doMixerCalculations()
#endif
}
#if defined(NAVIGATION_STICKS)
uint8_t StickScrollAllowed;
uint8_t StickScrollTimer;
static const pm_uint8_t rate[] PROGMEM = { 0, 0, 100, 40, 16, 7, 3, 1 } ;
uint8_t calcStickScroll( uint8_t index )
{
uint8_t direction ;
int8_t value ;
if ( ( g_eeGeneral.stickMode & 1 ) == 0 )
{
index ^= 3 ;
}
value = calibratedStick[index] / 128 ;
direction = value > 0 ? 0x80 : 0 ;
if ( value < 0 )
{
value = -value ; // (abs)
}
if ( value > 7 )
{
value = 7 ;
}
value = pgm_read_byte(rate+(uint8_t)value) ;
if ( value )
{
StickScrollTimer = STICK_SCROLL_TIMEOUT ; // Seconds
}
return value | direction ;
}
#endif
void perMain()
{
#if defined(SIMU)
@@ -3595,6 +3615,70 @@ void perMain()
}
#endif
#if defined(NAVIGATION_STICKS)
if (StickScrollAllowed) {
if ( StickScrollTimer ) {
static uint8_t repeater;
uint8_t direction;
uint8_t value;
if ( repeater < 128 )
{
repeater += 1;
}
value = calcStickScroll( 2 );
direction = value & 0x80;
value &= 0x7F;
if ( value )
{
if ( repeater > value )
{
repeater = 0;
if ( evt == 0 )
{
if ( direction )
{
evt = EVT_KEY_FIRST(KEY_UP);
}
else
{
evt = EVT_KEY_FIRST(KEY_DOWN);
}
}
}
}
else
{
value = calcStickScroll( 3 );
direction = value & 0x80;
value &= 0x7F;
if ( value )
{
if ( repeater > value )
{
repeater = 0;
if ( evt == 0 )
{
if ( direction )
{
evt = EVT_KEY_FIRST(KEY_RIGHT);
}
else
{
evt = EVT_KEY_FIRST(KEY_LEFT);
}
}
}
}
}
}
}
else {
StickScrollTimer = 0; // Seconds
}
StickScrollAllowed = 1 ;
#endif
lcd_clear();
const char *warn = s_warning;
uint8_t menu = s_menu_count;