edgetx-gx12/radio/src/gui/Taranis/menu_general_calib.cpp

/*
 * Authors (alphabetical order)
 * - Andre Bernet <bernet.andre@gmail.com>
 * - Andreas Weitl
 * - Bertrand Songis <bsongis@gmail.com>
 * - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
 * - Cameron Weeks <th9xer@gmail.com>
 * - Erez Raviv
 * - Gabriel Birkus
 * - Jean-Pierre Parisy
 * - Karl Szmutny
 * - Michael Blandford
 * - Michal Hlavinka
 * - Pat Mackenzie
 * - Philip Moss
 * - Rob Thomson
 * - Romolo Manfredini <romolo.manfredini@gmail.com>
 * - Thomas Husterer
 *
 * opentx is based on code named
 * gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
 * er9x by Erez Raviv: http://code.google.com/p/er9x/,
 * and the original (and ongoing) project by
 * Thomas Husterer, th9x: http://code.google.com/p/th9x/
 *
 * 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"

#define XPOT_DELTA 10
#define XPOT_DELAY 10 /* cycles */

void menuCommonCalib(uint8_t event)
{
  for (uint8_t i=0; i<NUM_STICKS+NUM_POTS; i++) { // get low and high vals for sticks and trims
    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;
      }
      uint8_t idx = i - POT1;
      int count = reusableBuffer.calib.xpotsCalib[idx].stepsCount;
      if (IS_POT_MULTIPOS(i) && count <= XPOTS_MULTIPOS_COUNT) {
        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;
          }
        }
      }
    }
  }

  calibrationState = reusableBuffer.calib.state; // make sure we don't scroll while calibrating

  switch (event)
  {
    case EVT_ENTRY:
      reusableBuffer.calib.state = 0;
      break;

    case EVT_KEY_BREAK(KEY_ENTER):
      reusableBuffer.calib.state++;
      break;
  }

  switch (reusableBuffer.calib.state) {
    case 0:
      // START CALIBRATION
      if (!READ_ONLY()) {
        lcd_putsLeft(MENU_HEADER_HEIGHT+2*FH, STR_MENUTOSTART);
      }
      break;

    case 1:
      // SET MIDPOINT
      lcd_putsAtt(0*FW, MENU_HEADER_HEIGHT+FH, STR_SETMIDPOINT, INVERS);
      lcd_putsLeft(MENU_HEADER_HEIGHT+2*FH, STR_MENUWHENDONE);

      for (uint8_t i=0; i<NUM_STICKS+NUM_POTS; i++) {
        reusableBuffer.calib.loVals[i] = 15000;
        reusableBuffer.calib.hiVals[i] = -15000;
        reusableBuffer.calib.midVals[i] = anaIn(i);
        if (i<NUM_XPOTS) {
          reusableBuffer.calib.xpotsCalib[i].stepsCount = 0;
          reusableBuffer.calib.xpotsCalib[i].lastCount = 0;
        }
      }
      break;

    case 2:
      // MOVE STICKS/POTS
      STICK_SCROLL_DISABLE();
      lcd_putsAtt(0*FW, MENU_HEADER_HEIGHT+FH, STR_MOVESTICKSPOTS, INVERS);
      lcd_putsLeft(MENU_HEADER_HEIGHT+2*FH, STR_MENUWHENDONE);

      for (uint8_t i=0; i<NUM_STICKS+NUM_POTS; 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;
        }
      }
      break;

    case 3:
      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;
            }
          }
          else {
            g_eeGeneral.potsType &= ~(0x03<<(2*idx));
          }
        }
      }
      g_eeGeneral.chkSum = evalChkSum();
      eeDirty(EE_GENERAL);
      reusableBuffer.calib.state = 4;
      break;

    default:
      reusableBuffer.calib.state = 0;
      break;
  }

  doMainScreenGraphics();
  drawPotsBars();

  for (int i=POT1; i<=POT_LAST; i++) {
    uint8_t steps = 0;
    if (reusableBuffer.calib.state == 2) {
      steps = reusableBuffer.calib.xpotsCalib[i-POT1].stepsCount;
    }
    else if (IS_POT_MULTIPOS(i)) {
      StepsCalibData * calib = (StepsCalibData *) &g_eeGeneral.calib[i];
      steps = calib->count + 1;
    }
    if (steps > 0 && steps <= XPOTS_MULTIPOS_COUNT) {
      lcd_outdezAtt(LCD_W/2-2+(i-POT1)*5, LCD_H-6, steps, TINSIZE);
    }
  }
}

void menuGeneralCalib(uint8_t event)
{
  check_simple(STR_MENUCALIBRATION, event, e_Calib, menuTabGeneral, DIM(menuTabGeneral), 0);

  if (menuEvent) {
    calibrationState = 0;
  }

  menuCommonCalib(READ_ONLY() ? 0 : event);
}

void menuFirstCalib(uint8_t event)
{
  if (event == EVT_KEY_BREAK(KEY_EXIT) || reusableBuffer.calib.state == 4) {
    calibrationState = 0;
    chainMenu(menuMainView);
  }
  else {
    lcd_putsCenter(0*FH, MENUCALIBRATION);
    lcd_invert_line(0);
    menuCommonCalib(event);
  }
}