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dualrate split throttle to forward/back, expo/dualrate menu use arrows at channel 2

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This commit is contained in:
Pavel Semerad
2011-05-18 14:11:55 +02:00
parent 90c94a06b0
commit 092bd3b3ac
5 changed files with 56 additions and 24 deletions
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1
TODO
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@@ -1,6 +1,5 @@
? CH3 button momentary model specific
? D/R split forward/back

12
calc.c
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@@ -50,6 +50,7 @@ void calc_init(void) {
// limit adc value to -5000..5000 (standard servo signal * 10)
// also apply trim
static s16 channel_calib(u16 adc_ovs, u16 call, u16 calm, u16 calr,
u16 dead, s16 trim) {
s16 val;
@@ -70,6 +71,7 @@ static s16 channel_calib(u16 adc_ovs, u16 call, u16 calm, u16 calr,
}
// apply reverse, endpoint, subtrim
// set value to ppm channel
static void rev_epo_subtrim(u8 channel, s16 inval) {
s16 val = (s16)(((s32)inval * cm.endpoint[channel-1][(u8)(inval < 0 ? 0 : 1)]
+ 50) / 100);
@@ -100,6 +102,11 @@ static s16 expo(s16 inval, s8 exp) {
return neg ? -val : val;
}
// apply dualrate
@inline static s16 dualrate(s16 val, u8 dr) {
return (s16)(((s32)val * dr + 50) / 100);
}
@@ -121,7 +128,7 @@ static void calc_loop(void) {
cg.steering_dead_zone << ADC_OVS_SHIFT,
cm.trim[0] * 10);
val = expo(val, cm.expo_steering);
rev_epo_subtrim(1, (s16)(((s32)val * cm.dualrate[0] + 50) / 100));
rev_epo_subtrim(1, dualrate(val, cm.dr_steering));
@@ -159,7 +166,8 @@ static void calc_loop(void) {
abs_state = 0;
}
}
rev_epo_subtrim(2, (s16)(((s32)val * cm.dualrate[1] + 50) / 100));
rev_epo_subtrim(2, dualrate(val,
(u8)(val < 0 ? cm.dr_forward : cm.dr_back)));

5
config.c
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@@ -85,8 +85,9 @@ void config_model_set_default(void) {
memset(cm.endpoint, 100, MAX_CHANNELS * 2);
cm.trim[0] = 0;
cm.trim[1] = 0;
cm.dualrate[0] = 100;
cm.dualrate[1] = 100;
cm.dr_steering = 100;
cm.dr_forward = 100;
cm.dr_back = 100;
cm.expo_steering = 0;
cm.expo_forward = 0;
cm.expo_back = 0;

13
config.h
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@@ -70,7 +70,7 @@ extern config_global_s config_global;
// change MAGIC number when changing model config
// also add code to setting default values
#define CONFIG_MODEL_MAGIC (0xe718 | (MAX_CHANNELS - 1))
#define CONFIG_MODEL_MAGIC (0xff20 | (MAX_CHANNELS - 1))
typedef struct {
u8 channels; // number of channels for this model
u8 name[3];
@@ -78,16 +78,19 @@ typedef struct {
s8 subtrim[MAX_CHANNELS];
u8 endpoint[MAX_CHANNELS][2];
s8 trim[2]; // for steering and throttle
u8 dualrate[2]; // for steering and throttle
u8 dualrate[3]; // for steering and throttle
s8 expo[3]; // steering/forward/back
u8 abs_type;
} config_model_s;
extern config_model_s config_model;
#define cm config_model
#define expo_steering expo[0]
#define expo_forward expo[1]
#define expo_back expo[2]
#define dr_steering dualrate[0]
#define dr_forward dualrate[1]
#define dr_back dualrate[2]
#define expo_steering expo[0]
#define expo_forward expo[1]
#define expo_back expo[2]

49
menu.c
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@@ -196,26 +196,44 @@ static void menu_set_adc_direction(u8 channel) {
}
}
}
static void menu_channel(u8 end_channel, u8 use_adc, void (*subfunc)(u8, u8)) {
u8 channel = 1;
u8 chan_val = 0; // now in channel
u8 last_direction = menu_adc_direction;
if (use_adc) {
static _Bool menu_set_adc(u8 channel, u8 use_adc) {
if ((u8)(use_adc & (1 << (channel - 1)))) {
// use ADC
if (menu_adc_direction) {
lcd_segment(LS_SYM_LEFT, LS_OFF);
lcd_segment(LS_SYM_RIGHT, LS_ON);
}
else {
lcd_segment(LS_SYM_LEFT, LS_ON);
lcd_segment(LS_SYM_RIGHT, LS_OFF);
}
menu_wants_adc = 1;
menu_set_adc_direction(channel);
return 1;
}
else {
// don't use ADC
lcd_segment(LS_SYM_LEFT, LS_OFF);
lcd_segment(LS_SYM_RIGHT, LS_OFF);
menu_wants_adc = 0;
return 0;
}
}
static void menu_channel(u8 end_channel, u8 use_adc, void (*subfunc)(u8, u8)) {
u8 channel = 1;
_Bool chan_val = 0; // now in channel
_Bool adc_active;
u8 last_direction;
// show CHANNEL
lcd_segment(LS_SYM_MODELNO, LS_OFF);
lcd_segment(LS_SYM_LEFT, (u8)(use_adc ? LS_ON : LS_OFF));
lcd_segment(LS_SYM_RIGHT, LS_OFF);
lcd_segment(LS_SYM_CHANNEL, LS_ON);
// show channel number and possible direction
menu_adc_direction = 0;
lcd_7seg(channel);
lcd_set_blink(L7SEG, LB_SPC);
menu_adc_direction = 0;
if (use_adc) menu_set_adc_direction(channel);
adc_active = menu_set_adc(channel, use_adc);
subfunc((u8)(channel - 1), 0); // show current value
lcd_update();
@@ -226,7 +244,7 @@ static void menu_channel(u8 end_channel, u8 use_adc, void (*subfunc)(u8, u8)) {
if (btn(BTN_BACK | BTN_ENTER)) break;
last_direction = menu_adc_direction;
if (use_adc) menu_set_adc_direction(channel);
if (adc_active) menu_set_adc_direction(channel);
if (btn(BTN_ROT_ALL)) {
if (chan_val) {
@@ -244,6 +262,7 @@ static void menu_channel(u8 end_channel, u8 use_adc, void (*subfunc)(u8, u8)) {
}
lcd_7seg(channel);
lcd_set_blink(L7SEG, LB_SPC);
adc_active = menu_set_adc(channel, use_adc);
subfunc((u8)(channel - 1), 0);
}
lcd_update();
@@ -499,7 +518,7 @@ void sf_endpoint(u8 channel, u8 change) {
}
static void menu_endpoint(void) {
lcd_segment(LS_SYM_PERCENT, LS_ON);
menu_channel(MAX_CHANNELS, 1, sf_endpoint);
menu_channel(MAX_CHANNELS, 0xff, sf_endpoint);
lcd_segment(LS_SYM_PERCENT, LS_OFF);
}
@@ -533,12 +552,13 @@ static void menu_subtrim(void) {
// set dualrate
static void sf_dualrate(u8 channel, u8 change) {
u8 *addr = &cm.dualrate[channel];
if (channel == 1 && menu_adc_direction) addr = &cm.dualrate[2];
if (change) *addr = (u8)menu_change_val(*addr, 0, 100, 5, 0);
lcd_char_num3(*addr);
}
static void menu_dualrate(void) {
lcd_segment(LS_SYM_PERCENT, LS_ON);
menu_channel(2, 0, sf_dualrate);
menu_channel(2, 0x2, sf_dualrate);
lcd_segment(LS_SYM_PERCENT, LS_OFF);
}
@@ -546,12 +566,13 @@ static void menu_dualrate(void) {
// set expos
static void sf_expo(u8 channel, u8 change) {
s8 *addr = &cm.expo[channel];
if (channel == 1 && menu_adc_direction) addr = &cm.expo[2];
if (change) *addr = (s8)menu_change_val(*addr, -99, 99, 5, 0);
lcd_char_num2(*addr);
}
static void menu_expo(void) {
lcd_segment(LS_SYM_PERCENT, LS_ON);
menu_channel(3, 0, sf_expo);
menu_channel(2, 0x2, sf_expo);
lcd_segment(LS_SYM_PERCENT, LS_OFF);
}