Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-26 01:35:41 +03:00
Code Issues Wiki Activity

More displayPort_t, CANVAS as new feature, multi-display cycling

Browse source 
- Further touch-ups with displayPort_t handling.
- CANVAS is a FEATURE now.
- Device specific xxxCmsInit() are registered by device’s init, and
called by CMS upon entry to menu.
- Multiple display devices can be cycled by entering menu invocation
command while in menu.
- The menu invocation command is (was) changed to THR-Mid + YAW-Left +
Pitch-Full to avoid collision with MWOSD menu invocation command.
- More separation attempt.
This commit is contained in:
jflyper 2016-10-28 13:22:28 +09:00
parent 7960b1665d
commit 720a841008
17 changed files with 267 additions and 182 deletions
Download patch file Download diff file Expand all files Collapse all files

299
src/main/io/cms.c
View file

@ -37,7 +37,9 @@
#include "io/cms.h"
#include "io/cms_types.h"
#ifdef CANVAS
#include "io/canvas.h"
#endif
#include "io/flashfs.h"
#include "io/osd.h"
@ -57,9 +59,50 @@
#include "build/debug.h"
// Device management
#define CMS_MAX_DEVICE 4
cmsDeviceInitFuncPtr cmsDeviceInitFunc[CMS_MAX_DEVICE];
int cmsDeviceCount;
int cmsCurrentDevice = -1;
int cmsLastDevice = -1;
bool cmsDeviceRegister(cmsDeviceInitFuncPtr func)
{
if (cmsDeviceCount == CMS_MAX_DEVICE)
return false;
cmsDeviceInitFunc[cmsDeviceCount++] = func;
return true;
}
cmsDeviceInitFuncPtr cmsDeviceSelectCurrent(void)
{
if (cmsDeviceCount == 0)
return NULL;
if (cmsCurrentDevice < 0)
cmsCurrentDevice = 0;
return cmsDeviceInitFunc[cmsCurrentDevice];
}
cmsDeviceInitFuncPtr cmsDeviceSelectNext(void)
{
if (cmsDeviceCount == 0)
return NULL;
cmsCurrentDevice = (cmsCurrentDevice + 1) % cmsDeviceCount; // -1 Okay
return cmsDeviceInitFunc[cmsCurrentDevice];
}
#define CMS_UPDATE_INTERVAL 50 // msec
// XXX Why is this here? Something is wrong?
// XXX Why is this here? Something wrong?
// XXX We need something like Drawing Context that holds all state variables?
int8_t lastCursorPos;
void cmsScreenClear(displayPort_t *instance)
@ -97,21 +140,9 @@ void cmsScreenResync(displayPort_t *instance)
instance->VTable->resync();
}
displayPort_t *cmsScreenInit(void)
void cmsScreenInit(displayPort_t *pDisp, cmsDeviceInitFuncPtr cmsDeviceInitFunc)
{
#ifdef OSD
return osdCmsInit();
#endif
#ifdef CANVAS
return canvasCmsInit();
#endif
#ifdef OLEDCMS
return displayCmsInit();
#endif
return NULL;
cmsDeviceInitFunc(pDisp);
}
@ -407,38 +438,31 @@ void cmsDrawMenu(displayPort_t *pDisplay, uint32_t currentTime)
// XXX Needs separation
OSD_Entry menuPid[];
void cmsx_PidRead(void);
void cmsx_PidWriteback(void);
OSD_Entry menuRateExpo[];
uint8_t tempPid[4][3];
controlRateConfig_t rateProfile;
void cmsx_RateExpoRead(void);
void cmsx_RateExpoWriteback(void);
void cmsMenuChange(displayPort_t *pDisplay, void *ptr)
{
uint8_t i;
if (ptr) {
// hack - save profile to temp
// XXX (jflyper) This hack could be avoided by adding pre- and post-
// (onEntry and onExit?) functions to OSD_Entry, that are called
// before and after the menu item is displayed.
if (ptr == &menuPid[0]) {
for (i = 0; i < 3; i++) {
tempPid[i][0] = masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[i];
tempPid[i][1] = masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[i];
tempPid[i][2] = masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[i];
}
tempPid[3][0] = masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDLEVEL];
tempPid[3][1] = masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDLEVEL];
tempPid[3][2] = masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDLEVEL];
}
// XXX (jflyper): This can be avoided by adding pre- and post-
// XXX (or onEnter and onExit) functions?
if (ptr == &menuPid[0])
cmsx_PidRead();
if (ptr == &menuRateExpo[0])
memcpy(&rateProfile, &masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile], sizeof(controlRateConfig_t));
cmsx_RateExpoRead();
menuStack[menuStackIdx] = currentMenu;
menuStackHistory[menuStackIdx] = currentCursorPos;
menuStackIdx++;
currentMenu = (OSD_Entry *)ptr;
currentCursorPos = 0;
if ((OSD_Entry *)ptr != currentMenu) {
// Stack it and move to a new menu.
// (ptr == curretMenu case occurs when reopening for display sw)
menuStack[menuStackIdx] = currentMenu;
menuStackHistory[menuStackIdx] = currentCursorPos;
menuStackIdx++;
currentMenu = (OSD_Entry *)ptr;
currentCursorPos = 0;
}
cmsScreenClear(pDisplay);
cmsUpdateMaxRows(pDisplay);
}
@ -446,25 +470,14 @@ void cmsMenuChange(displayPort_t *pDisplay, void *ptr)
void cmsMenuBack(displayPort_t *pDisplay)
{
uint8_t i;
// becasue pids and rates meybe stored in profiles we need some thicks to manipulate it
// hack to save pid profile
if (currentMenu == &menuPid[0]) {
for (i = 0; i < 3; i++) {
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[i] = tempPid[i][0];
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[i] = tempPid[i][1];
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[i] = tempPid[i][2];
}
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDLEVEL] = tempPid[3][0];
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDLEVEL] = tempPid[3][1];
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDLEVEL] = tempPid[3][2];
}
if (currentMenu == &menuPid[0])
cmsx_PidWriteback();
// hack - save rate config for current profile
if (currentMenu == &menuRateExpo[0])
memcpy(&masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile], &rateProfile, sizeof(controlRateConfig_t));
cmsx_RateExpoWriteback();
if (menuStackIdx) {
cmsScreenClear(pDisplay);
@ -477,29 +490,43 @@ void cmsMenuBack(displayPort_t *pDisplay)
}
}
// XXX This should go to device
void cmsComputeBatchsize(displayPort_t *pDisplay)
{
pDisplay->batchsize = (pDisplay->buftime < CMS_UPDATE_INTERVAL) ? pDisplay->bufsize : (pDisplay->bufsize * CMS_UPDATE_INTERVAL) / pDisplay->buftime;
}
// XXX Separation
void cmsx_FeatureRead(void);
void cmsx_FeatureWriteback(void);
void cmsx_InfoInit(void);
void cmsMenuOpen(displayPort_t *pDisplay)
displayPort_t currentDisplay;
void cmsMenuOpen(void)
{
if (cmsInMenu)
cmsDeviceInitFuncPtr initfunc;
if (!cmsInMenu) {
// New open
cmsInMenu = true;
DISABLE_ARMING_FLAG(OK_TO_ARM);
initfunc = cmsDeviceSelectCurrent();
cmsx_FeatureRead();
currentMenu = &menuMain[0];
} else {
// Switch display
cmsScreenEnd(&currentDisplay);
initfunc = cmsDeviceSelectNext();
}
if (!initfunc)
return;
cmsx_FeatureRead();
if (!pDisplay)
return;
pDisplay->batchsize = (pDisplay->buftime < CMS_UPDATE_INTERVAL) ? pDisplay->bufsize : (pDisplay->bufsize * CMS_UPDATE_INTERVAL) / pDisplay->buftime;
cmsInMenu = true;
DISABLE_ARMING_FLAG(OK_TO_ARM);
cmsScreenBegin(pDisplay);
currentMenu = &menuMain[0];
cmsMenuChange(pDisplay, currentMenu);
cmsScreenInit(&currentDisplay, initfunc);
cmsComputeBatchsize(&currentDisplay);
cmsScreenBegin(&currentDisplay);
cmsMenuChange(&currentDisplay, currentMenu);
}
void cmsMenuExit(displayPort_t *pDisplay, void *ptr)
@ -715,19 +742,20 @@ void cmsUpdate(displayPort_t *pDisplay, uint32_t currentTime)
uint8_t key = 0;
// Detect menu invocation
if (IS_MID(THROTTLE) && IS_LO(YAW) && IS_HI(PITCH) && !ARMING_FLAG(ARMED)) {
// XXX Double enter!?
cmsMenuOpen(pDisplay);
rcDelay = BUTTON_PAUSE; // Tends to overshoot if BUTTON_TIME
lastCalled = currentTime;
return;
}
if (cmsInMenu) {
if (!cmsInMenu) {
// Detect menu invocation
if (IS_MID(THROTTLE) && IS_LO(YAW) && IS_HI(PITCH) && !ARMING_FLAG(ARMED)) {
cmsMenuOpen();
rcDelay = BUTTON_PAUSE; // Tends to overshoot if BUTTON_TIME
}
} else {
if (rcDelay > 0) {
rcDelay -= currentTime - lastCalled;
debug[0] = rcDelay;
rcDelay -= (currentTime - lastCalled);
}
else if (IS_MID(THROTTLE) && IS_LO(YAW) && IS_HI(PITCH) && !ARMING_FLAG(ARMED)) {
// Double enter = display switching
cmsMenuOpen();
rcDelay = BUTTON_PAUSE;
}
else if (IS_HI(PITCH)) {
key = KEY_UP;
@ -751,10 +779,10 @@ void cmsUpdate(displayPort_t *pDisplay, uint32_t currentTime)
rcDelay = BUTTON_TIME;
}
lastCalled = currentTime;
//lastCalled = currentTime;
if (key && !currentElement) {
rcDelay = cmsHandleKey(pDisplay, key);
rcDelay = cmsHandleKey(&currentDisplay, key);
return;
}
@ -763,33 +791,31 @@ void cmsUpdate(displayPort_t *pDisplay, uint32_t currentTime)
if (currentTime > lastCmsHeartBeat + 500) {
// Heart beat for external CMS display device @ 500msec
// (Timeout @ 1000msec)
cmsScreenHeartBeat(pDisplay);
cmsScreenHeartBeat(&currentDisplay);
lastCmsHeartBeat = currentTime;
}
}
lastCalled = currentTime;
}
displayPort_t *currentDisplay = NULL;
void cmsHandler(uint32_t unusedTime)
{
UNUSED(unusedTime);
if (!currentDisplay)
if (cmsDeviceCount < 0)
return;
static uint32_t lastCalled = 0;
uint32_t now = millis();
if (now - lastCalled >= CMS_UPDATE_INTERVAL) {
cmsUpdate(currentDisplay, now);
cmsUpdate(&currentDisplay, now);
lastCalled = now;
}
}
void cmsInit(void)
{
currentDisplay = cmsScreenInit();
cmsx_InfoInit();
}
@ -803,6 +829,8 @@ void cmsInit(void)
OSD_UINT8_t entryPidProfile = {&masterConfig.current_profile_index, 0, MAX_PROFILE_COUNT, 1};
uint8_t tempPid[4][3];
static OSD_UINT8_t entryRollP = {&tempPid[PIDROLL][0], 10, 150, 1};
static OSD_UINT8_t entryRollI = {&tempPid[PIDROLL][1], 1, 150, 1};
static OSD_UINT8_t entryRollD = {&tempPid[PIDROLL][2], 0, 150, 1};
@ -815,6 +843,35 @@ static OSD_UINT8_t entryYawP = {&tempPid[PIDYAW][0], 10, 150, 1};
static OSD_UINT8_t entryYawI = {&tempPid[PIDYAW][1], 1, 150, 1};
static OSD_UINT8_t entryYawD = {&tempPid[PIDYAW][2], 0, 150, 1};
void cmsx_PidRead(void)
{
uint8_t i;
for (i = 0; i < 3; i++) {
tempPid[i][0] = masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[i];
tempPid[i][1] = masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[i];
tempPid[i][2] = masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[i];
}
tempPid[3][0] = masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDLEVEL];
tempPid[3][1] = masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDLEVEL];
tempPid[3][2] = masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDLEVEL];
}
void cmsx_PidWriteback(void)
{
uint8_t i;
for (i = 0; i < 3; i++) {
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[i] = tempPid[i][0];
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[i] = tempPid[i][1];
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[i] = tempPid[i][2];
}
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDLEVEL] = tempPid[3][0];
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDLEVEL] = tempPid[3][1];
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDLEVEL] = tempPid[3][2];
}
OSD_Entry menuPid[] =
{
{"--- PID ---", OME_Label, NULL, NULL, 0},
@ -834,6 +891,11 @@ OSD_Entry menuPid[] =
{NULL, OME_END, NULL, NULL, 0}
};
//
// Rate & Expo
//
controlRateConfig_t rateProfile;
static OSD_FLOAT_t entryRollRate = {&rateProfile.rates[0], 0, 250, 1, 10};
static OSD_FLOAT_t entryPitchRate = {&rateProfile.rates[1], 0, 250, 1, 10};
static OSD_FLOAT_t entryYawRate = {&rateProfile.rates[2], 0, 250, 1, 10};
@ -846,6 +908,16 @@ static OSD_UINT16_t entryTpaBreak = {&rateProfile.tpa_breakpoint, 1100, 1800, 10
static OSD_FLOAT_t entryPSetpoint = {&masterConfig.profile[0].pidProfile.setpointRelaxRatio, 0, 100, 1, 10};
static OSD_FLOAT_t entryDSetpoint = {&masterConfig.profile[0].pidProfile.dtermSetpointWeight, 0, 255, 1, 10};
void cmsx_RateExpoRead()
{
memcpy(&rateProfile, &masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile], sizeof(controlRateConfig_t));
}
void cmsx_RateExpoWriteback()
{
memcpy(&masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile], &rateProfile, sizeof(controlRateConfig_t));
}
OSD_Entry menuRateExpo[] =
{
{"--- RATE&EXPO ---", OME_Label, NULL, NULL, 0},
@ -931,6 +1003,29 @@ OSD_Entry menuImu[] =
//
// Black box
//
//
// Should goto flashfs eventually.
//
#ifdef USE_FLASHFS
void cmsx_EraseFlash(displayPort_t *pDisplay, void *ptr)
{
UNUSED(ptr);
cmsScreenClear(pDisplay);
cmsScreenWrite(pDisplay, 5, 3, "ERASING FLASH...");
cmsScreenResync(pDisplay); // Was max7456RefreshAll(); Why at this timing?
flashfsEraseCompletely();
while (!flashfsIsReady()) {
delay(100);
}
cmsScreenClear(pDisplay);
cmsScreenResync(pDisplay); // Was max7456RefreshAll(); wedges during heavy SPI?
}
#endif // USE_FLASHFS
uint8_t featureBlackbox = 0;
OSD_UINT8_t entryBlackboxRateDenom = {&masterConfig.blackbox_rate_denom,1,32,1};
@ -1056,28 +1151,6 @@ OSD_Entry menuLedstrip[] =
};
#endif // LED_STRIP
//
// Should goto flashfs eventually.
//
#ifdef USE_FLASHFS
void cmsx_EraseFlash(void *ptr)
{
UNUSED(ptr);
cmsScreenClear(currentDisplay);
cmsScreenWrite(currentDisplay5, 3, "ERASING FLASH...");
cmsScreenResync(currentDisplay); // Was max7456RefreshAll(); Why at this timing?
flashfsEraseCompletely();
while (!flashfsIsReady()) {
delay(100);
}
cmsScreenClear(currentDisplay);
cmsScreenResync(currentDisplay); // Was max7456RefreshAll(); wedges during heavy SPI?
}
#endif // USE_FLASHFS
#ifdef OSD
//
// OSD specific menu pages and items
@ -1221,10 +1294,13 @@ void cmsx_FeatureWriteback(void)
else
featureClear(FEATURE_BLACKBOX);
#ifdef LED_STRIP
if (featureLedstrip)
featureSet(FEATURE_LED_STRIP);
else
featureClear(FEATURE_LED_STRIP);
#endif
#if defined(VTX) || defined(USE_RTC6705)
if (featureVtx)
featureSet(FEATURE_VTX);
@ -1244,4 +1320,5 @@ void cmsx_FeatureWriteback(void)
saveConfigAndNotify();
}
#endif // CMS