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Issue 66 fixed: PPM_LIMITS_SYMETRICAL Makefile option added (pls tell me if not the right name)

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RSSI Tx and Rx before A1 and A2
Rotary Encoder on ersky9x board
A Mix may be defined in many Phases (idea from Romolo, thanks!)
Differential is now a Curve (private Curve of a Mix)
Issue 56 fixed (native stick as Mix input)
EEPROM saving (LimitData structure)
Issue 79 fixed (Audio Queue)
Trims now working in ersky9x simu
This commit is contained in:
bsongis
2012-08-16 14:06:38 +00:00
parent 78823788b4
commit debbff51e0
26 changed files with 342 additions and 231 deletions
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src/open9x.cpp
+58 -74
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@@ -31,8 +31,6 @@
*
*/
// KILRAH: or "#define KILRAH_OFS" for what I think is the right thing we discussed this weekend!
#if defined(PCBARM) && !defined(SIMU)
extern "C" {
#include <CoOS.h>
@@ -229,6 +227,7 @@ inline void applyDefaultTemplate()
md->destCh = i;
md->weight = 100;
md->srcRaw = channel_order(i+1);
md->phases = 1;
}
STORE_MODELVARS;
@@ -405,7 +404,7 @@ ACTIVE_EXPOS_TYPE activeExpos;
void applyExpos(int16_t *anas)
{
static int16_t anas2[NUM_STICKS]; // values before expo, to ensure same expo base when multiple expo lines are used
int16_t anas2[NUM_STICKS]; // values before expo, to ensure same expo base when multiple expo lines are used
memcpy(anas2, anas, sizeof(anas2));
uint8_t phase = s_perout_flight_phase + 1;
@@ -480,14 +479,19 @@ int16_t applyLimits(uint8_t channel, int32_t value)
if (ofs > lim_p) ofs = lim_p;
if (ofs < lim_n) ofs = lim_n;
#if !defined(KILRAH_OFS)
if (value) value =
(value > 0) ? value * ((int32_t) lim_p - ofs) / 100000 :
-value * ((int32_t) lim_n - ofs) / 100000; //div by 100000 -> output = -1024..1024
#if defined(PPM_LIMITS_SYMETRICAL)
if (value) {
// TODO flash saving
if (g_model.limitData[channel].symetrical)
value = (value > 0) ? value * ((int32_t) lim_p) / 100000 :
-value * ((int32_t) lim_n) / 100000; //div by 100000 -> output = -1024..1024
else
value = (value > 0) ? value * ((int32_t) lim_p - ofs) / 100000 :
-value * ((int32_t) lim_n - ofs) / 100000; //div by 100000 -> output = -1024..1024
}
#else
if (value) value =
(value > 0) ? value * ((int32_t) lim_p) / 100000 :
-value * ((int32_t) lim_n) / 100000; //div by 100000 -> output = -1024..1024
if (value) value = (value > 0) ? value * ((int32_t) lim_p - ofs) / 100000 :
-value * ((int32_t) lim_n - ofs) / 100000; //div by 100000 -> output = -1024..1024
#endif
value += calc1000toRESX(ofs);
@@ -517,7 +521,7 @@ int16_t getValue(uint8_t i)
/*srcRaw is shifted +1!*/
if(i<NUM_STICKS+NUM_POTS) return calibratedStick[i];
#if defined(PCBV4)
#if defined(PCBV4) || defined(PCBARM)
else if(i<NUM_STICKS+NUM_POTS+NUM_ROTARY_ENCODERS) return getRotaryEncoder(i-(NUM_STICKS+NUM_POTS));
#endif
else if(i<MIXSRC_TrimAil) return calc1000toRESX((int16_t)8 * getTrimValue(s_perout_flight_phase, i-(NUM_STICKS+NUM_POTS+NUM_ROTARY_ENCODERS)));
@@ -534,9 +538,9 @@ int16_t getValue(uint8_t i)
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT) return ex_chans[i-CSW_CHOUT_BASE];
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_TM2) return s_timerVal[i-CSW_CHOUT_BASE-NUM_CHNOUT];
#if defined(FRSKY)
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_A2) return frskyData.analog[i-CSW_CHOUT_BASE-NUM_CHNOUT-2].value;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_RSSI_TX) return frskyData.rssi[1].value;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_RSSI_RX) return frskyData.rssi[0].value;
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_A2) return frskyData.analog[i-CSW_CHOUT_BASE-NUM_CHNOUT-4].value;
#if defined(FRSKY_HUB) || defined(WS_HOW_HIGH)
else if(i<CSW_CHOUT_BASE+NUM_CHNOUT+TELEM_ALT) return frskyData.hub.baroAltitude_bp;
#endif
@@ -855,7 +859,7 @@ uint8_t getTrimFlightPhase(uint8_t phase, uint8_t idx)
return 0;
}
#if defined(PCBV4) && defined(ROTARY_ENCODERS)
#if defined(ROTARY_ENCODERS)
uint8_t getRotaryEncoderFlightPhase(uint8_t idx)
{
uint8_t phase = s_perout_flight_phase;
@@ -904,13 +908,6 @@ void incRotaryEncoder(uint8_t idx, int8_t inc)
}
#endif
#if defined(PCBARM) && defined(ROTARY_ENCODERS)
void incRotaryEncoder(uint8_t idx, int8_t inc)
{
g_rotenc[idx] += inc;
}
#endif
#if defined(FRSKY) || defined(PCBARM)
void putsTelemetryValue(uint8_t x, uint8_t y, int16_t val, uint8_t unit, uint8_t att)
{
@@ -1536,6 +1533,7 @@ uint16_t isqrt32(uint32_t n)
// static variables used in perOut - moved here so they don't interfere with the stack
// It's also easier to initialize them here.
int16_t rawAnas [NUM_STICKS] = {0};
int16_t anas [NUM_STICKS] = {0};
int16_t trims[NUM_STICKS] = {0};
int32_t chans[NUM_CHNOUT] = {0};
@@ -1641,6 +1639,7 @@ BeepANACenter evalSticks()
v = int32_t(v)*g_model.swashR.value*RESX/(int32_t(d)*100);
#endif
rawAnas[ch] = v;
anas[ch] = v; //set values for mixer
}
}
@@ -1870,36 +1869,25 @@ void evalFunctions()
#endif
#if defined(PCBARM) && defined(SDCARD)
else if (sd->func == FUNC_PLAY_TRACK || sd->func == FUNC_PLAY_VALUE) {
if (!audioQueue.busy()) {
if (sd->func == FUNC_PLAY_TRACK) {
char lfn[] = SOUNDS_PATH "/xxxxxx.wav";
strncpy(lfn+sizeof(SOUNDS_PATH), sd->param, sizeof(sd->param));
lfn[sizeof(SOUNDS_PATH)+sizeof(sd->param)] = '\0';
strcat(lfn+sizeof(SOUNDS_PATH), SOUNDS_EXT);
audioQueue.playFile(lfn);
}
else {
playValue(FSW_PARAM(sd));
}
}
else if (sd->func == FUNC_PLAY_TRACK) {
char lfn[] = SOUNDS_PATH "/xxxxxx.wav";
strncpy(lfn+sizeof(SOUNDS_PATH), sd->param, sizeof(sd->param));
lfn[sizeof(SOUNDS_PATH)+sizeof(sd->param)] = '\0';
strcat(lfn+sizeof(SOUNDS_PATH), SOUNDS_EXT);
audioQueue.playFile(lfn);
}
else if (sd->func == FUNC_PLAY_VALUE) {
playValue(FSW_PARAM(sd));
}
else if (sd->func == FUNC_VOLUME) {
requiredSpeakerVolume = ((1024 + getValue(FSW_PARAM(sd))) * NUM_VOL_LEVELS) / 2048;
}
#elif defined(VOICE)
else if (sd->func == FUNC_PLAY_TRACK || sd->func == FUNC_PLAY_VALUE) {
if (!isPlaying()) {
static uint16_t s_last_play = 0;
uint16_t tmr10ms = get_tmr10ms();
if (tmr10ms - s_last_play >= 100) {
s_last_play = tmr10ms;
if (sd->func == FUNC_PLAY_TRACK)
pushCustomPrompt(sd->param);
else
playValue(sd->param);
}
}
else if (sd->func == FUNC_PLAY_TRACK) {
pushCustomPrompt(sd->param);
}
else if (sd->func == FUNC_PLAY_VALUE) {
playValue(sd->param);
}
#endif
@@ -2018,23 +2006,14 @@ void perOut(uint8_t tick10ms)
//========== MIXER LOOP ===============
uint8_t lv_mixWarning = 0;
uint8_t phase = s_perout_flight_phase + 1;
for (uint8_t i=0; i<MAX_MIXERS; i++) {
MixData *md = mixaddress( i ) ;
if (md->srcRaw==0) break;
if (md->phase != 0) {
if (md->phase > 0) {
if (phase != md->phase)
continue;
}
else {
if (phase == -md->phase)
continue;
}
}
if (!(md->phases & (1<<s_perout_flight_phase))) continue;
//========== SWITCH ===============
bool sw = getSwitch(md->swtch, 1);
@@ -2054,7 +2033,7 @@ void perOut(uint8_t tick10ms)
}
else {
if (k < NUM_STICKS)
v = anas[k]; //Switch is on. MAX=FULL=512 or value.
v = md->noExpo ? rawAnas[k] : anas[k]; //Switch is on. MAX=FULL=512 or value.
else if (k>=MIXSRC_CH1-1 && k<=MIXSRC_CH16-1 && k-MIXSRC_CH1+1<md->destCh) // if we've already calculated the value - take it instead
v = chans[k-MIXSRC_CH1+1] / 100;
else if (k>=MIXSRC_THR-1 && k<=MIXSRC_SWC-1) {
@@ -2174,17 +2153,20 @@ void perOut(uint8_t tick10ms)
}
//========== CURVES ===============
if (md->curve)
v = applyCurve(v, md->curve);
if (md->curveParam && md->curveMode == MODE_CURVE) {
v = applyCurve(v, md->curveParam);
}
//========== MULTIPLEX ===============
//========== WEIGHT ===============
int32_t dv = (int32_t)v*md->weight;
int8_t differential = md->differential;
if (differential>0 && dv<0)
dv = (dv * (50-differential)) / 50;
else if (differential<0 && dv>0)
dv = (dv * (50+differential)) / 50;
//========== DIFFERENTIAL =========
if (md->curveMode == MODE_DIFFERENTIAL) {
if (md->curveParam>0 && dv<0)
dv = (dv * (50-md->curveParam)) / 50;
else if (md->curveParam<0 && dv>0)
dv = (dv * (50+md->curveParam)) / 50;
}
int32_t *ptr = &chans[md->destCh]; // Save calculating address several times
switch(md->mltpx){
@@ -2600,6 +2582,10 @@ void perMain()
lcd_clear();
#if defined(PCBARM) && defined(SIMU)
checkTrims();
#endif
#if defined(PCBSTD)
uint8_t evt = getEvent();
evt = checkTrim(evt);
@@ -2961,20 +2947,18 @@ ISR(USART0_UDRE_vect)
void instantTrim()
{
s_perout_mode = e_perout_mode_notrainer;
evalSticks();
s_perout_mode = e_perout_mode_normal;
for (uint8_t i=0; i<NUM_STICKS; i++) {
if (i!=THR_STICK) {
// don't instant trim the throttle stick
uint8_t trim_phase = getTrimFlightPhase(s_perout_flight_phase, i);
s_perout_mode = e_perout_mode_notrainer;
evalSticks();
s_perout_mode = e_perout_mode_normal;
int16_t trim = (anas[i] + trims[i]) / 2;
if (trim < TRIM_EXTENDED_MIN) {
trim = TRIM_EXTENDED_MIN;
}
if (trim > TRIM_EXTENDED_MAX) {
trim = TRIM_EXTENDED_MAX;
}
// TODO limit
if (trim < TRIM_EXTENDED_MIN) trim = TRIM_EXTENDED_MIN;
if (trim > TRIM_EXTENDED_MAX) trim = TRIM_EXTENDED_MAX;
setTrimValue(trim_phase, i, trim);
}
}