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[Taranis] Automatic detection of the 6pos switch within the calibration

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This commit is contained in:
Bertrand Songis
2014-01-06 11:52:05 +01:00
parent 33eeb4cc64
commit e4b3b3af85
5 changed files with 137 additions and 38 deletions
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radio/src/opentx.cpp
+48 -21
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@@ -503,7 +503,7 @@ void generalDefault()
uint16_t evalChkSum()
{
uint16_t sum = 0;
const int16_t *calibValues = &g_eeGeneral.calibMid[0];
const int16_t *calibValues = (const int16_t *) &g_eeGeneral.calib[0];
for (int i=0; i<NUM_STICKS+NUM_POTS+5; i++)
sum += calibValues[i];
return sum;
@@ -1301,8 +1301,8 @@ uint8_t cswStates[NUM_CSW];
#if defined(PCBTARANIS)
tmr10ms_t switchesMidposStart[6] = { 0 };
uint32_t switchesPos = 0;
tmr10ms_t potsLastposStart[2];
uint8_t potsPos[2];
tmr10ms_t potsLastposStart[NUM_XPOTS];
uint8_t potsPos[NUM_XPOTS];
#define DELAY_SWITCH_3POS 10/*100ms*/
#define CHECK_2POS(sw) newPos |= (switchState(sw ## 0) ? (1 << (sw ## 0 - SW_SA0)) : (1 << (sw ## 0 - SW_SA0 + 1)))
#define CHECK_3POS(idx, sw) if (switchState(sw ## 0)) { \
@@ -1336,17 +1336,28 @@ void getSwitchesPosition()
CHECK_2POS(SW_SH);
switchesPos = newPos;
for (int i=0; i<2; i++) {
int val = RESX + (int16_t)anaIn(POT1+i) + (RESX / 5);
uint8_t pos = limit<uint8_t>(0, val / (2*RESX/5), 5);
uint8_t previousPos = potsPos[i] >> 4;
if (pos != previousPos) {
potsLastposStart[i] = get_tmr10ms();
potsPos[i] = (pos << 4) | (potsPos[i] & 0x0f);
}
else if ((tmr10ms_t)(get_tmr10ms() - potsLastposStart[i]) > DELAY_SWITCH_3POS) {
potsLastposStart[i] = 0;
potsPos[i] = (pos << 4) | (pos);
for (int i=0; i<NUM_XPOTS; i++) {
if (g_eeGeneral.potsType & (1 << i)) {
StepsCalibData * calib = (StepsCalibData *) &g_eeGeneral.calib[POT1+i];
if (calib->count>0 && calib->count<6) {
uint8_t pos = calib->count;
int v = (int16_t)anaIn(POT1+i);
for (int j=0; j<calib->count; j++) {
if (v < calib->steps[j]) {
pos = j;
break;
}
}
uint8_t previousPos = potsPos[i] >> 4;
if (pos != previousPos) {
potsLastposStart[i] = get_tmr10ms();
potsPos[i] = (pos << 4) | (potsPos[i] & 0x0f);
}
else if ((tmr10ms_t)(get_tmr10ms() - potsLastposStart[i]) > DELAY_SWITCH_3POS) {
potsLastposStart[i] = 0;
potsPos[i] = (pos << 4) | (pos);
}
}
}
}
}
@@ -2156,8 +2167,9 @@ void checkTHR()
int16_t lowLim = THRCHK_DEADBAND - 1024 ;
#else
getADC(); // if thr is down - do not display warning at all
int16_t lowLim = g_eeGeneral.calibMid[thrchn];
lowLim = (g_model.throttleReversed ? - lowLim - g_eeGeneral.calibSpanPos[thrchn] : lowLim - g_eeGeneral.calibSpanNeg[thrchn]);
CalibData * calib = &g_eeGeneral.calib[thrchn];
int16_t lowLim = calib->mid;
lowLim = (g_model.throttleReversed ? - lowLim - calib->spanPos : lowLim - calib->spanNeg);
lowLim += THRCHK_DEADBAND;
#endif
int16_t v = thrAnaIn(thrchn);
@@ -2495,7 +2507,23 @@ void getADC()
}
for (uint32_t x=0; x<NUMBER_ANALOG; x++) {
s_anaFilt[x] = temp[x] >> 3;
uint16_t v = temp[x] >> 3;
#if defined(PCBTARANIS)
StepsCalibData * calib = (StepsCalibData *) &g_eeGeneral.calib[x];
if (x >= POT1 && x <= POT_LAST && (g_eeGeneral.potsType & (1<<(x-POT1))) && calib->count>0 && calib->count<6) {
for (int i=0; i<=calib->count; i++) {
if (i == calib->count) {
s_anaFilt[x] = RESX;
}
else if (v < calib->steps[i]) {
s_anaFilt[x] = -RESX + i*2*RESX/calib->count;
break;
}
}
}
else
#endif
s_anaFilt[x] = v;
}
}
#else
@@ -2743,10 +2771,9 @@ void evalInputs(uint8_t mode)
#ifndef SIMU
if (i < NUM_STICKS+NUM_POTS) {
v -= g_eeGeneral.calibMid[i];
v = v * (int32_t)RESX / (max((int16_t)100,(v>0 ?
g_eeGeneral.calibSpanPos[i] :
g_eeGeneral.calibSpanNeg[i])));
CalibData * calib = &g_eeGeneral.calib[i];
v -= calib->mid;
v = v * (int32_t)RESX / (max((int16_t)100, (v>0 ? calib->spanPos : calib->spanNeg)));
}
#endif