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Issue 67 fixed (comma missing!)

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Issue 63 fixed (InstantTrim, Trims2Ofs to double check before release)
Issue 68 fixed (better names for vario sources)
[gruvin] 2 digits for voltage calibration
This commit is contained in:
bsongis
2012-08-10 20:34:33 +00:00
parent 9574eadd44
commit e84ece8055
13 changed files with 141 additions and 108 deletions
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src/open9x.cpp
+94 -92
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@@ -1399,16 +1399,18 @@ void getADC_single()
void getADC_bandgap()
{
#if defined (PCBV4)
// For times over-sample with no divide, x2 to end at a half averaged, x8. DON'T ASK mmmkay? :P This is how I want it.
ADCSRA|=0x40; while ((ADCSRA & 0x10)==0); ADCSRA|=0x10;
BandGap=ADCW;
ADCSRA|=0x40; while ((ADCSRA & 0x10)==0); ADCSRA|=0x10;
BandGap+=ADCW;
ADCSRA|=0x40; while ((ADCSRA & 0x10)==0); ADCSRA|=0x10;
BandGap+=ADCW;
ADCSRA|=0x40; while ((ADCSRA & 0x10)==0); ADCSRA|=0x10;
BandGap+=ADCW;
BandGap *= 2;
static uint8_t s_bgCheck = 0;
static uint16_t s_bgSum = 0;
ADCSRA|=0x40; // request sample
s_bgCheck += 32;
while ((ADCSRA & 0x10)==0); ADCSRA|=0x10; // wait for sample
if (s_bgCheck == 0) { // 8x over-sample (256/32=8)
BandGap = s_bgSum+ADCW;
s_bgSum = 0;
}
else {
s_bgSum += ADCW;
}
ADCSRB |= (1<<MUX5);
#else
// TODO is the next line needed (because it has been called before perMain)?
@@ -1541,13 +1543,6 @@ FORCEINLINE void evalTrims()
}
}
enum PerOutMode {
e_perout_mode_normal = 0,
e_perout_mode_trims,
e_perout_mode_zeros,
e_instant_trim
};
uint8_t s_perout_mode = e_perout_mode_normal;
BeepANACenter evalSticks()
@@ -1599,7 +1594,7 @@ BeepANACenter evalSticks()
if (tmp <= 1) anaCenter |= (tmp==0 ? (BeepANACenter)1<<ch : bpanaCenter & ((BeepANACenter)1<<ch));
if (ch < NUM_STICKS) { //only do this for sticks
if (s_perout_mode==e_perout_mode_normal && (isFunctionActive(FUNC_TRAINER) || isFunctionActive(FUNC_TRAINER_RUD+ch))) {
if (s_perout_mode == e_perout_mode_normal && (isFunctionActive(FUNC_TRAINER) || isFunctionActive(FUNC_TRAINER_RUD+ch))) {
// trainer mode
TrainerMix* td = &g_eeGeneral.trainer.mix[ch];
if (td->mode) {
@@ -1919,72 +1914,72 @@ void perOut(uint8_t tick10ms)
anaCenter &= g_model.beepANACenter;
if(((bpanaCenter ^ anaCenter) & anaCenter)) AUDIO_POT_STICK_MIDDLE();
bpanaCenter = anaCenter;
}
#ifdef 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 = (int32_t)RESX*g_model.swashR.value/100;
q *= q;
if(v>q)
{
uint32_t v = ((int32_t)anas[ELE_STICK]*anas[ELE_STICK] + (int32_t)anas[AIL_STICK]*anas[AIL_STICK]);
uint32_t q = (int32_t)RESX*g_model.swashR.value/100;
q *= q;
if(v>q)
{
uint16_t d = isqrt32(v);
anas[ELE_STICK] = (int32_t)anas[ELE_STICK]*g_model.swashR.value*RESX/((int32_t)d*100);
anas[AIL_STICK] = (int32_t)anas[AIL_STICK]*g_model.swashR.value*RESX/((int32_t)d*100);
}
uint16_t d = isqrt32(v);
anas[ELE_STICK] = (int32_t)anas[ELE_STICK]*g_model.swashR.value*RESX/((int32_t)d*100);
anas[AIL_STICK] = (int32_t)anas[AIL_STICK]*g_model.swashR.value*RESX/((int32_t)d*100);
}
}
#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)
{
int16_t vp = anas[ELE_STICK]+trims[ELE_STICK];
int16_t vr = anas[AIL_STICK]+trims[AIL_STICK];
int16_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;
switch (g_model.swashR.type)
{
int16_t vp = anas[ELE_STICK]+trims[ELE_STICK];
int16_t vr = anas[AIL_STICK]+trims[AIL_STICK];
int16_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;
switch (g_model.swashR.type)
{
case (SWASH_TYPE_120):
vp = REZ_SWASH_Y(vp);
vr = REZ_SWASH_X(vr);
cyc_anas[0] = vc - vp;
cyc_anas[1] = vc + vp/2 + vr;
cyc_anas[2] = vc + vp/2 - vr;
break;
case (SWASH_TYPE_120X):
vp = REZ_SWASH_X(vp);
vr = REZ_SWASH_Y(vr);
cyc_anas[0] = vc - vr;
cyc_anas[1] = vc + vr/2 + vp;
cyc_anas[2] = vc + vr/2 - vp;
break;
case (SWASH_TYPE_140):
vp = REZ_SWASH_Y(vp);
vr = REZ_SWASH_Y(vr);
cyc_anas[0] = vc - vp;
cyc_anas[1] = vc + vp + vr;
cyc_anas[2] = vc + vp - vr;
break;
case (SWASH_TYPE_90):
vp = REZ_SWASH_Y(vp);
vr = REZ_SWASH_Y(vr);
cyc_anas[0] = vc - vp;
cyc_anas[1] = vc + vr;
cyc_anas[2] = vc - vr;
break;
default:
break;
}
case SWASH_TYPE_120:
vp = REZ_SWASH_Y(vp);
vr = REZ_SWASH_X(vr);
cyc_anas[0] = vc - vp;
cyc_anas[1] = vc + vp/2 + vr;
cyc_anas[2] = vc + vp/2 - vr;
break;
case SWASH_TYPE_120X:
vp = REZ_SWASH_X(vp);
vr = REZ_SWASH_Y(vr);
cyc_anas[0] = vc - vr;
cyc_anas[1] = vc + vr/2 + vp;
cyc_anas[2] = vc + vr/2 - vp;
break;
case SWASH_TYPE_140:
vp = REZ_SWASH_Y(vp);
vr = REZ_SWASH_Y(vr);
cyc_anas[0] = vc - vp;
cyc_anas[1] = vc + vp + vr;
cyc_anas[2] = vc + vp - vr;
break;
case SWASH_TYPE_90:
vp = REZ_SWASH_Y(vp);
vr = REZ_SWASH_Y(vr);
cyc_anas[0] = vc - vp;
cyc_anas[1] = vc + vr;
cyc_anas[2] = vc - vr;
break;
default:
break;
}
#endif
}
#endif
memclear(chans, sizeof(chans)); // All outputs to 0
@@ -2016,8 +2011,15 @@ void perOut(uint8_t tick10ms)
uint8_t k = md->srcRaw-1;
int16_t v = 0;
if (s_perout_mode != e_perout_mode_normal) {
if (!sw || k >= NUM_STICKS || (k == THR_STICK && g_model.thrTrim))
if (!sw || k >= NUM_STICKS || (k == THR_STICK && g_model.thrTrim)) {
printf("CONTINUE\n");
continue;
}
else {
printf("LIGNE AJOUTEE\n");
if (!(s_perout_mode & e_perout_mode_nosticks))
v = anas[k];
}
}
else {
if (k < NUM_STICKS)
@@ -2093,8 +2095,21 @@ void perOut(uint8_t tick10ms)
//========== OFFSET ===============
if (apply_offset && md->sOffset) v += calc100toRESX(md->sOffset);
//========== TRIMS ===============
if (!(s_perout_mode & e_perout_mode_notrims)) {
int8_t mix_trim = md->carryTrim;
if (mix_trim < TRIM_ON)
mix_trim = -mix_trim-1;
else if (mix_trim == TRIM_ON && k < NUM_STICKS)
mix_trim = k;
else
mix_trim = -1;
if (mix_trim >= 0)
v += trims[mix_trim];
}
//========== SPEED ===============
if (s_perout_mode==e_perout_mode_normal && (md->speedUp || md->speedDown)) // there are delay values
if (s_perout_mode == e_perout_mode_normal && (md->speedUp || md->speedDown)) // there are delay values
{
#define DEL_MULT 256
@@ -2125,19 +2140,6 @@ void perOut(uint8_t tick10ms)
if (md->curve)
v = applyCurve(v, md->curve);
//========== TRIMS ===============
if (s_perout_mode < e_perout_mode_zeros) {
int8_t mix_trim = md->carryTrim;
if (mix_trim < TRIM_ON)
mix_trim = -mix_trim-1;
else if (mix_trim == TRIM_ON && k < NUM_STICKS)
mix_trim = k;
else
mix_trim = -1;
if (mix_trim >= 0)
v += trims[mix_trim];
}
//========== MULTIPLEX ===============
int32_t dv = (int32_t)v*md->weight;
@@ -2640,7 +2642,7 @@ void perMain()
else if (s_batCheck == 0) {
g_vbat100mV = s_batSum / 8;
s_batSum = 0;
if (g_vbat100mV<g_eeGeneral.vBatWarn && g_vbat100mV>50) {
if (g_vbat100mV <= g_eeGeneral.vBatWarn && g_vbat100mV>50) {
AUDIO_TX_BATTERY_LOW();
}
}
@@ -2926,7 +2928,7 @@ void instantTrim()
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_instant_trim;
s_perout_mode = e_perout_mode_notrainer;
evalSticks();
s_perout_mode = e_perout_mode_normal;
int16_t trim = (anas[i] + trims[i]) / 2;
@@ -2948,13 +2950,13 @@ void moveTrimsToOffsets() // copy state of 3 primary to subtrim
{
int16_t zeros[NUM_CHNOUT];
s_perout_mode = e_perout_mode_zeros;
s_perout_mode = e_perout_mode_noinput;
perOut(0); // do output loop - zero input sticks and trims
for (uint8_t i=0; i<NUM_CHNOUT; i++) {
zeros[i] = applyLimits(i, chans[i]);
}
s_perout_mode = e_perout_mode_trims;
s_perout_mode = e_perout_mode_nosticks+e_perout_mode_notrainer;
perOut(0); // do output loop - only trims
s_perout_mode = e_perout_mode_normal;