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Fix bug where aux configuration for channels 5-8 were ignored.

Browse source 
The bug was introduced by a recent refactor which was in error.

Fixed using TDD by first creating a failing unit test and then fixing
the code.
This commit is contained in:
Dominic Clifton 2014-09-06 00:28:48 +01:00
parent ca72890964
commit 5a36db26c9
3 changed files with 83 additions and 13 deletions
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30
src/main/io/rc_controls.c
View file

@ -224,30 +224,38 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
void updateRcOptions(uint32_t *activate)
{
// Check AUX switches
// auxState is a bitmask, 3 bits per channel. aux1 is first.
// lower 16 bits contain aux 1 to 4, upper 16 bits contain aux 5 to 8
// auxState is a bitmask, 3 bits per channel.
// lower 16 bits contain aux 4 to 1 (msb to lsb)
// upper 16 bits contain aux 8 to 5 (msb to lsb)
//
// the three bits are as follows:
// bit 1 is SET when the stick is less than 1300
// bit 2 is SET when the stick is between 1300 and 1700
// bit 3 is SET when the stick is above 1700
// if the value is 1300 or 1700 NONE of the three bits are set.
int i;
uint32_t auxState = 0;
uint8_t shift = 0;
int8_t chunkOffset = 0;
for (i = 0; i < rxRuntimeConfig.auxChannelCount && i < MAX_AUX_STATE_CHANNELS; i++) {
uint32_t temp = (rcData[AUX1 + i] < 1300) << (3 * i) |
(1300 < rcData[AUX1 + i] && rcData[AUX1 + i] < 1700) << (3 * i + 1) |
(rcData[AUX1 + i] > 1700) << (3 * i + 2);
if (i > 0 && i % 4 == 0) {
chunkOffset -= 4;
shift += 16;
}
if (i >= 4 && i < 8) {
temp <<= 16;
}
auxState |= temp;
uint8_t bitIndex = 3 * (i + chunkOffset);
uint32_t temp =
(rcData[AUX1 + i] < 1300) << bitIndex |
(1300 < rcData[AUX1 + i] && rcData[AUX1 + i] < 1700) << (bitIndex + 1) |
(rcData[AUX1 + i] > 1700) << (bitIndex + 2);
auxState |= temp << shift;
}
for (i = 0; i < CHECKBOX_ITEM_COUNT; i++)
rcOptions[i] = (auxState & activate[i]) > 0;
}