275 lines
8.3 KiB
C++
275 lines
8.3 KiB
C++
/*
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* Authors (alphabetical order)
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* - Andre Bernet <bernet.andre@gmail.com>
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* - Andreas Weitl
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* - Bertrand Songis <bsongis@gmail.com>
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* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
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* - Cameron Weeks <th9xer@gmail.com>
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* - Erez Raviv
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* - Gabriel Birkus
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* - Jean-Pierre Parisy
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* - Karl Szmutny
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* - Michael Blandford
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* - Michal Hlavinka
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* - Pat Mackenzie
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* - Philip Moss
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* - Rob Thomson
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* - Romolo Manfredini <romolo.manfredini@gmail.com>
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* - Thomas Husterer
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*
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* opentx is based on code named
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* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
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* er9x by Erez Raviv: http://code.google.com/p/er9x/,
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* and the original (and ongoing) project by
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* Thomas Husterer, th9x: http://code.google.com/p/th9x/
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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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/*
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*
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* ============================================================
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* Templates file
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*
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* eccpm
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* crow
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* throttle cut
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* flaperon
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* elevon
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* v-tail
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* throttle hold
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* Aileron Differential
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* Spoilers
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* Snap Roll
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* ELE->Flap
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* Flap->ELE
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*
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*/
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#include "opentx.h"
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#if defined(PCBTARANIS)
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#pragma message("Templates with virtual inputs (FrSky Taranis) are not implemented!")
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#endif
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MixData* setDest(uint8_t dch, uint8_t src, bool clear=false)
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{
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uint8_t i = 0;
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MixData * mix;
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while (1) {
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mix = mixAddress(i);
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if (mix->srcRaw && mix->destCh <= dch) {
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if (clear && mix->destCh == dch) {
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deleteExpoMix(0, i);
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}
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else {
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if (++i==MAX_MIXERS) {
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// TODO should return null pointer but needs to be tested then
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mix = mixAddress(0);
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break;
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}
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}
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}
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else {
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break;
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}
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}
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memmove(mix+1, mix, (MAX_MIXERS-(i+1))*sizeof(MixData) );
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memclear(mix, sizeof(MixData));
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mix->destCh = dch;
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mix->srcRaw = src;
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mix->weight = 100;
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return mix;
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}
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void mixSetWeight(MixData* md, int8_t weight)
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{
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u_int8int16_t tmp;
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tmp.word=weight;
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MD_UNION_TO_WEIGHT(tmp,md);
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// MD_SETWEIGHT(md,weight); doesn't matter here in code cost compiler optimizes this anyway
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}
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#if defined(PCBTARANIS)
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#define TMPL_INPUT(x) (MIXSRC_FIRST_INPUT+channel_order(x)-1)
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#else
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#define clearInputs()
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#define defaultInputs()
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#define TMPL_INPUT(x) (MIXSRC_Rud+x-1)
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#endif
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void clearMixes()
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{
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memset(g_model.mixData, 0, sizeof(g_model.mixData)); // clear all mixes
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}
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void clearCurves()
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{
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memclear(g_model.curves, sizeof(g_model.curves) + sizeof(g_model.points)); // clear all curves
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}
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void setCurve(uint8_t c, const pm_int8_t ar[])
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{
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int8_t * cv = curveAddress(c);
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for (uint8_t i=0; i<5; i++) {
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cv[i] = pgm_read_byte(&ar[i]);
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}
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}
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void setLogicalSwitch(uint8_t idx, uint8_t func, int8_t v1, int8_t v2)
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{
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LogicalSwitchData *cs = lswAddress(idx-1);
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cs->func = func;
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cs->v1 = v1;
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cs->v2 = v2;
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}
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const pm_int8_t heli_ar1[] PROGMEM = {-100, 20, 30, 70, 90};
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const pm_int8_t heli_ar2[] PROGMEM = {80, 70, 60, 70, 100};
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const pm_int8_t heli_ar3[] PROGMEM = {100, 90, 80, 90, 100};
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const pm_int8_t heli_ar4[] PROGMEM = {-30, -15, 0, 50, 100};
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const pm_int8_t heli_ar5[] PROGMEM = {-100, -50, 0, 50, 100};
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void applyTemplate(uint8_t idx)
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{
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MixData *md;
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//CC(STK) -> vSTK
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//ICC(vSTK) -> STK
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#define ICC(x) icc[(x)-1]
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uint8_t icc[4] = {0};
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for (uint8_t i=0; i<4; i++) { //generate inverse array
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for(uint8_t j=0; j<4; j++)
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if(CC(i+1)==j+MIXSRC_Rud) icc[j]=i;
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}
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switch (idx) {
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case TMPL_CLEAR_MIXES:
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case TMPL_SIMPLE_4CH:
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case TMPL_HELI_SETUP:
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clearMixes();
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break;
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}
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switch (idx) {
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// Simple 4-Ch
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case TMPL_SIMPLE_4CH:
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defaultInputs();
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setDest(ICC(STK_RUD), TMPL_INPUT(STK_RUD));
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setDest(ICC(STK_ELE), TMPL_INPUT(STK_ELE));
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setDest(ICC(STK_THR), TMPL_INPUT(STK_THR));
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setDest(ICC(STK_AIL), TMPL_INPUT(STK_AIL));
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break;
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// Sticky-T-Cut
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case TMPL_STI_THR_CUT:
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md=setDest(ICC(STK_THR), MIXSRC_MAX); mixSetWeight(md, -100); md->swtch=SWSRC_SWC; md->mltpx=MLTPX_REP;
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md=setDest(13, MIXSRC_CH14); // md->weight= 100; done by setDest anyway
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md=setDest(13, MIXSRC_MAX); mixSetWeight(md, -100); md->swtch=SWSRC_SWB; md->mltpx=MLTPX_REP;
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md=setDest(13, MIXSRC_MAX); /* md->weight= 100;*/ md->swtch=SWSRC_THR; md->mltpx=MLTPX_REP;
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setLogicalSwitch(11, LS_FUNC_VNEG, STK_THR, -99);
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setLogicalSwitch(12, LS_FUNC_VPOS, MIXSRC_CH14, 0);
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break;
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// V-Tail
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case TMPL_V_TAIL:
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defaultInputs();
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setDest(ICC(STK_RUD), TMPL_INPUT(STK_RUD), true);
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md=setDest(ICC(STK_RUD), TMPL_INPUT(STK_ELE)); mixSetWeight(md, -100);
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setDest(ICC(STK_ELE), TMPL_INPUT(STK_RUD), true);
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setDest(ICC(STK_ELE), TMPL_INPUT(STK_ELE));
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break;
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// Elevon\\Delta
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case TMPL_ELEVON_DELTA:
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defaultInputs();
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setDest(ICC(STK_ELE), MIXSRC_Ele, true);
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setDest(ICC(STK_ELE), MIXSRC_Ail);
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setDest(ICC(STK_AIL), MIXSRC_Ele, true);
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md=setDest(ICC(STK_AIL), MIXSRC_Ail); mixSetWeight(md, -100);
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break;
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// eCCPM
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case TMPL_ECCPM:
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md=setDest(ICC(STK_ELE), MIXSRC_Ele, true); md->weight= 72;
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md=setDest(ICC(STK_ELE), MIXSRC_Thr); md->weight= 55;
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md=setDest(ICC(STK_AIL), MIXSRC_Ele, true); mixSetWeight(md, -36);
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md=setDest(ICC(STK_AIL), MIXSRC_Ail); md->weight= 62;
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md=setDest(ICC(STK_AIL), MIXSRC_Thr); md->weight= 55;
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md=setDest(5, MIXSRC_Ele, true); mixSetWeight(md, -36);
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md=setDest(5, MIXSRC_Ail); mixSetWeight(md, -62);
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md=setDest(5, MIXSRC_Thr); md->weight= 55;
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break;
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// Heli Setup
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case TMPL_HELI_SETUP:
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clearCurves();
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//Set up Mixes
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// 3 cyclic channels
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md=setDest(0, MIXSRC_CYC1); // md->weight=100;
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md=setDest(1, MIXSRC_CYC2); // md->weight=100;
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md=setDest(2, MIXSRC_CYC3); // md->weight=100;
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// rudder
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md=setDest(3, MIXSRC_Rud); // md->weight=100;
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// throttle
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#if defined(PCBTARANIS)
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// TODO
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#else
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md=setDest(4, MIXSRC_Thr); md->swtch=SWSRC_ID0; mixSetCurve(md, 0); md->carryTrim=TRIM_OFF;
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md=setDest(4, MIXSRC_Thr); md->swtch=SWSRC_ID1; mixSetCurve(md, 1); md->carryTrim=TRIM_OFF;
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md=setDest(4, MIXSRC_Thr); md->swtch=SWSRC_ID2; mixSetCurve(md, 2); md->carryTrim=TRIM_OFF;
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#endif
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md=setDest(4, MIXSRC_MAX); mixSetWeight(md, -100); md->swtch=SWSRC_THR; md->mltpx=MLTPX_REP;
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// gyro gain
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md=setDest(5, MIXSRC_MAX); md->weight= 30; md->swtch=-SWSRC_GEA;
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md=setDest(5, MIXSRC_MAX); mixSetWeight(md, -30); md->swtch= SWSRC_GEA;
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// collective
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#if defined(PCBTARANIS)
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// TODO
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#else
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md=setDest(10, MIXSRC_Thr); /*md->weight= 100;*/ md->swtch=SWSRC_ID0; mixSetCurve(md, 3); md->carryTrim=TRIM_OFF;
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md=setDest(10, MIXSRC_Thr); /*md->weight= 100;*/ md->swtch=SWSRC_ID1; mixSetCurve(md, 4); md->carryTrim=TRIM_OFF;
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md=setDest(10, MIXSRC_Thr); /*md->weight= 100;*/ md->swtch=SWSRC_ID2; mixSetCurve(md, 5); md->carryTrim=TRIM_OFF;
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#endif
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g_model.swashR.collectiveSource = MIXSRC_CH11;
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g_model.swashR.type = SWASH_TYPE_120;
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// curves
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setCurve(0, heli_ar1);
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setCurve(1, heli_ar2);
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setCurve(2, heli_ar3);
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setCurve(3, heli_ar4);
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setCurve(4, heli_ar5);
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setCurve(5, heli_ar5);
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break;
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// Servo Test
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case TMPL_SERVO_TEST:
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md=setDest(NUM_CHNOUT-1, MIXSRC_SW1, true); md->weight=110; md->mltpx=MLTPX_ADD; md->delayUp = 6; md->delayDown = 6; md->speedUp = 8; md->speedDown = 8;
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setLogicalSwitch(1, LS_FUNC_VNEG, MIXSRC_LAST_CH, 0);
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break;
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default:
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break;
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}
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eeDirty(EE_MODEL);
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}
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