bsongis
9fb1eb665f
[all] Change in Switches order (to match the Mixer sources order and save some flash) [all] New menu in MODELSEL when a ROTARY_ENCODER_NAVIGATION enabled [all] Add REs (short) and REl (long) in Custom Functions screen. Will be needed later to reset the Rotary Encoder (for example)
114 lines
3.9 KiB
C
114 lines
3.9 KiB
C
/*
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* Author - Gerard Valade
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*
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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*/
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#ifndef rotarysw_h
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#define rotarysw_h
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#define ROTARY_SW_CHANNEL "UP DOWN"
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// Channel number for rotary switch
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//#define MIX_SW_ROLL_CHAN (MIXSRC_LAST_CH+NUM_VIRTUAL) // GVA:Rotary switch
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#define MIX_INC_ROTARY_SW (MIXSRC_LAST_CH+MAX_TIMERS+1)
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#define MIX_DEC_ROTARY_SW (MIXSRC_LAST_CH+MAX_TIMERS+1)
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extern int8_t rotarySwIdx;
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extern int8_t rotarySwLastPPMVal;
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extern void putsControlMode(uint8_t x, uint8_t y, uint8_t idx, uint8_t attr, uint8_t len);
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extern void putsRotarySwPos(uint8_t x, uint8_t y, uint8_t idx1, uint8_t att);
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extern void setRotarySwIdx(int8_t idx);
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extern void setRotarySwDisplay(int8_t idx);
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extern void animRotarySw(uint8_t x);
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// Control mode define from arducoper
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enum CONTROL_MODE {
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STABILIZE = 0, // hold level position
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ACRO, // rate control
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ALT_HOLD, // AUTO control
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AUTO, // AUTO control
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GUIDED, // AUTO control
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LOITER, // AUTO control
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RTL, // AUTO control
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CIRCLE, // AUTO control
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POSITION, // AUTO control
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LAND, // AUTO control
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OF_LOITER, // Hold a single location using optical flow sensor
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//
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// Adding control mode define from ardupilot
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MANUAL,
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FLY_BY_WIRE_A, // Fly By Wire A has left stick horizontal => desired roll angle, left stick vertical => desired pitch angle, right stick vertical = manual throttle
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FLY_BY_WIRE_B, // Fly By Wire B has left stick horizontal => desired roll angle, left stick vertical => desired pitch angle, right stick vertical => desired airspeed
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FLY_BY_WIRE_C, // Fly By Wire C has left stick horizontal => desired roll angle, left stick vertical => desired climb rate, right stick vertical => desired airspeed
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// Fly By Wire B and Fly By Wire C require airspeed sensor
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// This only for display
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INITIALISING,
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NUM_MODES_ALL,
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};
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#define ACM_NUM_MODE (OF_LOITER+1)
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#define NUM_MODES (FLY_BY_WIRE_C+1)
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// 0123456789012345678901234567890123456789012345678901234567890123456789
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// 0 1 2 3 4 5 6 7 8 9 0 1
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#define CONROL_MODE_STR "STAB ACRO ALT_H AUTO GUIDEDLOITERRTL CIRCLEPOSITILAND OF_LOI"
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#define CONROL_MODE_STR_APM "MANUALWIRE_AWIRE_BWIRE_C"
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#define DISPLAY_ONLY_STR "INIT"
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inline void init_rotary_sw() {
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setRotarySwIdx(-1); // Reinit sw roll idx
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for (uint8_t i = 0; i < NUM_ROTARY_SW; i++) {
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if (g_model.mavlink.rotarySw[i].numMode >= NUM_MODES || g_model.mavlink.rotarySw[i].typeRotary > ROTARY_TYPE_MAVLINK)
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{
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g_model.mavlink.rotarySw[i].typeRotary = 0;
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g_model.mavlink.rotarySw[i].numMode = 0;
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}
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#ifdef OLD_ROTARY
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for (uint8_t j = 0; j < sizeof(g_model.mavlink.rotarySw[i].name); j++) // makes sure name is valid
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{
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uint8_t idx = char2idx(g_model.mavlink.rotarySw[i].name[j]);
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g_model.mavlink.rotarySw[i].name[j] = idx2char(idx);
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}
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#endif
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}
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}
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inline int8_t find_rotary_sw_pos(uint8_t srcRaw, uint8_t swTog, uint8_t swOn) {
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if ((swOn && swTog) || rotarySwIdx == -1) { // toggle switch on
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int8_t idx = rotarySwIdx;
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int8_t inc = srcRaw == MIX_INC_ROTARY_SW ? 1 : -1;
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for (uint8_t k = 0; k < NUM_ROTARY_SW; k++) { // find first enable slot
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idx = (idx + inc) & 0x7; // do modulo 8
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if (g_model.mavlink.rotarySw[idx].typeRotary) {
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setRotarySwIdx(idx);
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return idx;
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}
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}
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setRotarySwIdx(-1);
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}
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return rotarySwIdx;
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}
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inline int8_t get_rotary_value() {
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if (g_model.mavlink.rotarySw[rotarySwIdx].typeRotary == ROTARY_TYPE_PPM) {
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uint8_t num = g_model.mavlink.rotarySw[rotarySwIdx].numMode;
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rotarySwLastPPMVal = g_model.mavlink.modesVal[num];
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}
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return rotarySwLastPPMVal;
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}
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#endif
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