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Pit mode on a switch

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This commit is contained in:
Curtis Bangert 2017-11-19 18:57:04 -05:00
parent 0d89fce800
commit b13e73c9bb
7 changed files with 110 additions and 33 deletions
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110
src/main/io/vtx.c
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@ -23,6 +23,7 @@
#if defined(VTX_COMMON)
#include "common/time.h"
#include "common/maths.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
@ -31,6 +32,7 @@
#include "fc/config.h"
#include "fc/runtime_config.h"
#include "fc/rc_modes.h"
#include "io/vtx.h"
#include "io/vtx_string.h"
@ -43,7 +45,8 @@ PG_RESET_TEMPLATE(vtxSettingsConfig_t, vtxSettingsConfig,
.channel = VTX_SETTINGS_DEFAULT_CHANNEL,
.power = VTX_SETTINGS_DEFAULT_POWER,
.freq = VTX_SETTINGS_DEFAULT_FREQ,
.lowPowerDisarm = 0,
.pitModeFreq = VTX_SETTINGS_DEFAULT_PITMODE_FREQ,
.lowPowerDisarm = VTX_SETTINGS_DEFAULT_LOW_POWER_DISARM,
);
#define VTX_PARAM_CYCLE_TIME_US 100000 // 10Hz
@ -51,6 +54,7 @@ PG_RESET_TEMPLATE(vtxSettingsConfig_t, vtxSettingsConfig,
typedef enum {
VTX_PARAM_BANDCHAN = 0,
VTX_PARAM_POWER,
VTX_PARAM_PITMODE,
VTX_PARAM_CONFIRM,
VTX_PARAM_COUNT
} vtxScheduleParams_e;
@ -61,27 +65,70 @@ static uint8_t vtxParamSchedule[VTX_PARAM_COUNT];
void vtxInit(void)
{
uint8_t index = 0;
bool settingsUpdated = false;
vtxParamSchedule[index++] = VTX_PARAM_BANDCHAN;
vtxParamSchedule[index++] = VTX_PARAM_POWER;
vtxParamSchedule[index++] = VTX_PARAM_PITMODE;
vtxParamSchedule[index++] = VTX_PARAM_CONFIRM;
vtxParamScheduleCount = index;
// sync frequency in parameter group when band/channel are specified
const uint16_t freq = vtx58_Bandchan2Freq(vtxSettingsConfig()->band, vtxSettingsConfig()->channel);
if (vtxSettingsConfig()->band && freq != vtxSettingsConfig()->freq) {
vtxSettingsConfigMutable()->freq = freq;
settingsUpdated = true;
}
#if defined(VTX_SETTINGS_FREQCMD)
// constrain pit mode frequency
if (vtxSettingsConfig()->pitModeFreq) {
const uint16_t constrainedPitModeFreq = MAX(vtxSettingsConfig()->pitModeFreq, VTX_SETTINGS_MIN_USER_FREQ);
if (constrainedPitModeFreq != vtxSettingsConfig()->pitModeFreq) {
vtxSettingsConfigMutable()->pitModeFreq = constrainedPitModeFreq;
settingsUpdated = true;
}
}
#endif
if (settingsUpdated) {
saveConfigAndNotify();
}
}
static vtxSettingsConfig_t vtxGetSettings(void) {
vtxSettingsConfig_t settings = {
.band = vtxSettingsConfig()->band,
.channel = vtxSettingsConfig()->channel,
.power = vtxSettingsConfig()->power,
.freq = vtxSettingsConfig()->freq,
.pitModeFreq = vtxSettingsConfig()->pitModeFreq,
.lowPowerDisarm = vtxSettingsConfig()->lowPowerDisarm,
};
#if defined(VTX_SETTINGS_FREQCMD)
if (IS_RC_MODE_ACTIVE(BOXVTXPITMODE) && isModeActivationConditionPresent(BOXVTXPITMODE) && settings.pitModeFreq) {
settings.band = 0;
settings.freq = settings.pitModeFreq;
settings.power = VTX_SETTINGS_DEFAULT_POWER;
}
#endif
if (!ARMING_FLAG(ARMED) && settings.lowPowerDisarm) {
settings.power = VTX_SETTINGS_DEFAULT_POWER;
}
return settings;
}
static bool vtxProcessBandAndChannel(void) {
if(!ARMING_FLAG(ARMED)) {
uint8_t vtxBand;
uint8_t vtxChan;
if (vtxCommonGetBandAndChannel(&vtxBand, &vtxChan)) {
if (vtxSettingsConfig()->band != vtxBand || vtxSettingsConfig()->channel != vtxChan) {
vtxCommonSetBandAndChannel(vtxSettingsConfig()->band, vtxSettingsConfig()->channel);
const vtxSettingsConfig_t settings = vtxGetSettings();
if (vtxBand != settings.band || vtxChan != settings.channel) {
vtxCommonSetBandAndChannel(settings.band, settings.channel);
return true;
}
}
@ -94,8 +141,9 @@ static bool vtxProcessFrequency(void) {
if(!ARMING_FLAG(ARMED)) {
uint16_t vtxFreq;
if (vtxCommonGetFrequency(&vtxFreq)) {
if (vtxSettingsConfig()->freq != vtxFreq) {
vtxCommonSetFrequency(vtxSettingsConfig()->freq);
const vtxSettingsConfig_t settings = vtxGetSettings();
if (vtxFreq != settings.freq) {
vtxCommonSetFrequency(settings.freq);
return true;
}
}
@ -106,29 +154,43 @@ static bool vtxProcessFrequency(void) {
static bool vtxProcessPower(void) {
uint8_t vtxPower;
uint8_t newPower;
if (vtxCommonGetPowerIndex(&vtxPower)) {
if (!ARMING_FLAG(ARMED) && vtxSettingsConfig()->lowPowerDisarm) {
newPower = VTX_SETTINGS_DEFAULT_POWER;
} else {
newPower = vtxSettingsConfig()->power;
}
if (vtxPower != newPower) {
vtxCommonSetPowerByIndex(newPower);
const vtxSettingsConfig_t settings = vtxGetSettings();
if (vtxPower != settings.power) {
vtxCommonSetPowerByIndex(settings.power);
return true;
}
}
return false;
}
static bool vtxProcessPitMode(void) {
uint8_t pitOnOff;
if (!ARMING_FLAG(ARMED) && vtxCommonGetPitMode(&pitOnOff)) {
if (IS_RC_MODE_ACTIVE(BOXVTXPITMODE)) {
#if defined(VTX_SETTINGS_FREQCMD)
if (vtxSettingsConfig()->pitModeFreq) {
return false;
}
#endif
if (isModeActivationConditionPresent(BOXVTXPITMODE)) {
if (!pitOnOff) {
vtxCommonSetPitMode(true);
return true;
}
} else {
if (pitOnOff) {
vtxCommonSetPitMode(false);
return true;
}
}
}
}
return false;
}
static bool vtxProcessStateUpdate(void) {
const vtxSettingsConfig_t vtxSettingsState = {
.band = vtxSettingsConfig()->band,
.channel = vtxSettingsConfig()->channel,
.power = vtxSettingsConfig()->power,
.freq = vtxSettingsConfig()->freq,
.lowPowerDisarm = vtxSettingsConfig()->lowPowerDisarm,
};
const vtxSettingsConfig_t vtxSettingsState = vtxGetSettings();
vtxSettingsConfig_t vtxState = vtxSettingsState;
if (vtxSettingsState.band) {
@ -152,11 +214,12 @@ void vtxProcessSchedule(timeUs_t currentTimeUs)
if (vtxCommonDeviceRegistered()) {
const uint8_t currentSchedule = vtxParamSchedule[scheduleIndex];
const vtxSettingsConfig_t settings = vtxGetSettings();
// Process VTX changes from the parameter group at 10Hz
if (currentTimeUs > lastCycleTimeUs + VTX_PARAM_CYCLE_TIME_US) {
switch (currentSchedule) {
case VTX_PARAM_BANDCHAN:
if (vtxSettingsConfig()->band) {
if (settings.band) {
vtxUpdatePending = vtxProcessBandAndChannel();
#if defined(VTX_SETTINGS_FREQCMD)
} else {
@ -167,6 +230,9 @@ void vtxProcessSchedule(timeUs_t currentTimeUs)
case VTX_PARAM_POWER:
vtxUpdatePending = vtxProcessPower();
break;
case VTX_PARAM_PITMODE:
vtxUpdatePending = vtxProcessPitMode();
break;
case VTX_PARAM_CONFIRM:
vtxUpdatePending = vtxProcessStateUpdate();
break;