9216570d6c
* Adds Flysky digital hall gimbal support for RadioMaster Boxer. --------- Co-authored-by: rotorman <risto.koiva@web.de>
216 lines
7.5 KiB
C++
216 lines
7.5 KiB
C++
/*
|
|
* Copyright (C) EdgeTX
|
|
*
|
|
* Based on code named
|
|
* opentx - https://github.com/opentx/opentx
|
|
* th9x - http://code.google.com/p/th9x
|
|
* er9x - http://code.google.com/p/er9x
|
|
* gruvin9x - http://code.google.com/p/gruvin9x
|
|
*
|
|
* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
|
|
*
|
|
* This program is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License version 2 as
|
|
* published by the Free Software Foundation.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*/
|
|
|
|
#include "opentx.h"
|
|
#include "hal/adc_driver.h"
|
|
|
|
#define XPOT_DELTA 10
|
|
#define XPOT_DELAY 10 /* cycles */
|
|
|
|
void menuCommonCalib(event_t event)
|
|
{
|
|
for (uint8_t i=0; i<NUM_STICKS+NUM_POTS+NUM_SLIDERS; i++) { // get low and high values for sticks, pots and sliders
|
|
int16_t vt = anaIn(i);
|
|
reusableBuffer.calib.loVals[i] = min(vt, reusableBuffer.calib.loVals[i]);
|
|
reusableBuffer.calib.hiVals[i] = max(vt, reusableBuffer.calib.hiVals[i]);
|
|
if (i >= POT1 && i <= POT_LAST) {
|
|
if (IS_POT_WITHOUT_DETENT(i)) {
|
|
reusableBuffer.calib.midVals[i] = (reusableBuffer.calib.hiVals[i] + reusableBuffer.calib.loVals[i]) / 2;
|
|
}
|
|
#if defined(PCBTARANIS)
|
|
uint8_t idx = i - POT1;
|
|
int count = reusableBuffer.calib.xpotsCalib[idx].stepsCount;
|
|
if (IS_POT_MULTIPOS(i) && count <= XPOTS_MULTIPOS_COUNT) {
|
|
// use raw analog value for multipos calibraton, anaIn() already has multipos decoded value
|
|
vt = getAnalogValue(i) >> 1;
|
|
if (reusableBuffer.calib.xpotsCalib[idx].lastCount == 0 ||
|
|
vt < reusableBuffer.calib.xpotsCalib[idx].lastPosition - XPOT_DELTA ||
|
|
vt > reusableBuffer.calib.xpotsCalib[idx].lastPosition + XPOT_DELTA) {
|
|
reusableBuffer.calib.xpotsCalib[idx].lastPosition = vt;
|
|
reusableBuffer.calib.xpotsCalib[idx].lastCount = 1;
|
|
}
|
|
else {
|
|
if (reusableBuffer.calib.xpotsCalib[idx].lastCount < 255)
|
|
reusableBuffer.calib.xpotsCalib[idx].lastCount++;
|
|
}
|
|
if (reusableBuffer.calib.xpotsCalib[idx].lastCount == XPOT_DELAY) {
|
|
int16_t position = reusableBuffer.calib.xpotsCalib[idx].lastPosition;
|
|
bool found = false;
|
|
for (int j=0; j<count; j++) {
|
|
int16_t step = reusableBuffer.calib.xpotsCalib[idx].steps[j];
|
|
if (position >= step-XPOT_DELTA && position <= step+XPOT_DELTA) {
|
|
found = true;
|
|
break;
|
|
}
|
|
}
|
|
if (!found) {
|
|
if (count < XPOTS_MULTIPOS_COUNT) {
|
|
reusableBuffer.calib.xpotsCalib[idx].steps[count] = position;
|
|
}
|
|
reusableBuffer.calib.xpotsCalib[idx].stepsCount += 1;
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
}
|
|
}
|
|
|
|
menuCalibrationState = reusableBuffer.calib.state; // make sure we don't scroll while calibrating
|
|
|
|
switch (event) {
|
|
case EVT_ENTRY:
|
|
case EVT_KEY_BREAK(KEY_EXIT):
|
|
reusableBuffer.calib.state = CALIB_START;
|
|
break;
|
|
|
|
case EVT_KEY_BREAK(KEY_ENTER):
|
|
reusableBuffer.calib.state++;
|
|
break;
|
|
}
|
|
|
|
switch (reusableBuffer.calib.state) {
|
|
case CALIB_START:
|
|
// START CALIBRATION
|
|
if (!READ_ONLY()) {
|
|
lcdDrawTextAlignedLeft(MENU_HEADER_HEIGHT+2*FH, STR_MENUTOSTART);
|
|
}
|
|
break;
|
|
|
|
case CALIB_SET_MIDPOINT:
|
|
// SET MIDPOINT
|
|
lcdDrawText(0*FW, MENU_HEADER_HEIGHT+FH, STR_SETMIDPOINT, INVERS);
|
|
lcdDrawTextAlignedLeft(MENU_HEADER_HEIGHT+2*FH, STR_MENUWHENDONE);
|
|
for (uint8_t i=0; i<NUM_STICKS+NUM_POTS+NUM_SLIDERS; i++) {
|
|
reusableBuffer.calib.loVals[i] = 15000;
|
|
reusableBuffer.calib.hiVals[i] = -15000;
|
|
#if defined(PCBTARANIS)
|
|
#if defined(FLYSKY_GIMBAL)
|
|
if (globalData.flyskygimbals && (i < FIRST_ANALOG_ADC_FS) )
|
|
{
|
|
reusableBuffer.calib.midVals[i] = anaIn(i);
|
|
}
|
|
else
|
|
#endif
|
|
{
|
|
reusableBuffer.calib.midVals[i] = getAnalogValue(i) >> 1;
|
|
}
|
|
if (i<NUM_XPOTS) {
|
|
reusableBuffer.calib.xpotsCalib[i].stepsCount = 0;
|
|
reusableBuffer.calib.xpotsCalib[i].lastCount = 0;
|
|
}
|
|
#else
|
|
reusableBuffer.calib.midVals[i] = anaIn(i);
|
|
#endif
|
|
}
|
|
break;
|
|
|
|
case CALIB_MOVE_STICKS:
|
|
// MOVE STICKS/POTS
|
|
lcdDrawText(0*FW, MENU_HEADER_HEIGHT+FH, STR_MOVESTICKSPOTS, INVERS);
|
|
lcdDrawTextAlignedLeft(MENU_HEADER_HEIGHT+2*FH, STR_MENUWHENDONE);
|
|
for (uint8_t i=0; i<NUM_STICKS+NUM_POTS+NUM_SLIDERS; i++) {
|
|
if (abs(reusableBuffer.calib.loVals[i]-reusableBuffer.calib.hiVals[i]) > 50) {
|
|
g_eeGeneral.calib[i].mid = reusableBuffer.calib.midVals[i];
|
|
int16_t v = reusableBuffer.calib.midVals[i] - reusableBuffer.calib.loVals[i];
|
|
g_eeGeneral.calib[i].spanNeg = v - v/STICK_TOLERANCE;
|
|
v = reusableBuffer.calib.hiVals[i] - reusableBuffer.calib.midVals[i];
|
|
g_eeGeneral.calib[i].spanPos = v - v/STICK_TOLERANCE;
|
|
}
|
|
}
|
|
#if defined(PCBTARANIS)
|
|
for (uint8_t i=POT1; i<=POT_LAST; i++) {
|
|
int idx = i - POT1;
|
|
int count = reusableBuffer.calib.xpotsCalib[idx].stepsCount;
|
|
if (IS_POT_MULTIPOS(i)) {
|
|
if (count > 1 && count <= XPOTS_MULTIPOS_COUNT) {
|
|
for (int j=0; j<count; j++) {
|
|
for (int k=j+1; k<count; k++) {
|
|
if (reusableBuffer.calib.xpotsCalib[idx].steps[k] < reusableBuffer.calib.xpotsCalib[idx].steps[j]) {
|
|
SWAP(reusableBuffer.calib.xpotsCalib[idx].steps[j], reusableBuffer.calib.xpotsCalib[idx].steps[k]);
|
|
}
|
|
}
|
|
}
|
|
StepsCalibData * calib = (StepsCalibData *) &g_eeGeneral.calib[i];
|
|
calib->count = count - 1;
|
|
for (int j=0; j<calib->count; j++) {
|
|
calib->steps[j] = (reusableBuffer.calib.xpotsCalib[idx].steps[j+1] + reusableBuffer.calib.xpotsCalib[idx].steps[j]) >> 5;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
break;
|
|
|
|
case CALIB_STORE:
|
|
#if defined(RADIO_BOXER)
|
|
for (uint8_t i=POT1; i<=POT_LAST; i++) {
|
|
int idx = i - POT1;
|
|
if (IS_POT_MULTIPOS(i)) {
|
|
int count = reusableBuffer.calib.xpotsCalib[idx].stepsCount;
|
|
if (count < XPOTS_MULTIPOS_COUNT)
|
|
{
|
|
// load 6-pos calib with factory data if 6-pos was not manually calibrated
|
|
constexpr int16_t factoryValues[]= {0x5,0xd,0x16,0x1f,0x28};
|
|
StepsCalibData * calib = (StepsCalibData *) &g_eeGeneral.calib[POT3];
|
|
calib->count = 5;
|
|
for (int j=0; j<calib->count ; j++) {
|
|
calib->steps[j] = factoryValues[j];
|
|
}
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
g_eeGeneral.chkSum = evalChkSum();
|
|
storageDirty(EE_GENERAL);
|
|
reusableBuffer.calib.state = CALIB_FINISHED;
|
|
break;
|
|
|
|
default:
|
|
reusableBuffer.calib.state = CALIB_START;
|
|
break;
|
|
}
|
|
|
|
doMainScreenGraphics();
|
|
}
|
|
|
|
void menuRadioCalibration(event_t event)
|
|
{
|
|
check_submenu_simple(event, 0);
|
|
title(STR_MENUCALIBRATION);
|
|
menuCommonCalib(READ_ONLY() ? 0 : event);
|
|
if (menuEvent) {
|
|
menuCalibrationState = CALIB_START;
|
|
}
|
|
}
|
|
|
|
void menuFirstCalib(event_t event)
|
|
{
|
|
if (event == EVT_KEY_BREAK(KEY_EXIT) || reusableBuffer.calib.state == CALIB_FINISHED) {
|
|
menuCalibrationState = CALIB_START;
|
|
chainMenu(menuMainView);
|
|
}
|
|
else {
|
|
lcdDrawText(LCD_W / 2, 0, STR_MENUCALIBRATION, CENTERED);
|
|
lcdInvertLine(0);
|
|
menuCommonCalib(event);
|
|
}
|
|
}
|