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Update RC Controls so that functions with different modes can be

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applied.  The existing modes are 'step'.  A new mode is 'select'.

The other unit tests need fixing up so that appropriate code is compiled
as C and not C++ code.
This commit is contained in:
Dominic Clifton 2014-10-29 20:52:44 +00:00
parent e22b37026c
commit cac814923c
4 changed files with 105 additions and 55 deletions
Download patch file Download diff file Expand all files Collapse all files

93
src/main/io/rc_controls.c
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@ -273,78 +273,85 @@ uint8_t adjustmentStateMask = 0;
static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COUNT - 1] = {
{
.adjustmentFunction = ADJUSTMENT_RC_RATE,
.step = 1
.mode = ADJUSTMENT_MODE_STEP,
.data.stepConfig.step = 1
},
{
.adjustmentFunction = ADJUSTMENT_RC_EXPO,
.step = 1
.mode = ADJUSTMENT_MODE_STEP,
.data.stepConfig.step = 1
},
{
.adjustmentFunction = ADJUSTMENT_THROTTLE_EXPO,
.step = 1
.mode = ADJUSTMENT_MODE_STEP,
.data.stepConfig.step = 1
},
{
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_RATE,
.step = 1
.mode = ADJUSTMENT_MODE_STEP,
.data.stepConfig.step = 1
},
{
.adjustmentFunction = ADJUSTMENT_YAW_RATE,
.step = 1
.mode = ADJUSTMENT_MODE_STEP,
.data.stepConfig.step = 1
},
{
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_P,
.step = 1
.mode = ADJUSTMENT_MODE_STEP,
.data.stepConfig.step = 1
},
{
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_I,
.step = 1
.mode = ADJUSTMENT_MODE_STEP,
.data.stepConfig.step = 1
},
{
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_D,
.step = 1
.mode = ADJUSTMENT_MODE_STEP,
.data.stepConfig.step = 1
},
{
.adjustmentFunction = ADJUSTMENT_YAW_P,
.step = 1
.mode = ADJUSTMENT_MODE_STEP,
.data.stepConfig.step = 1
},
{
.adjustmentFunction = ADJUSTMENT_YAW_I,
.step = 1
.mode = ADJUSTMENT_MODE_STEP,
.data.stepConfig.step = 1
},
{
.adjustmentFunction = ADJUSTMENT_YAW_D,
.step = 1
.mode = ADJUSTMENT_MODE_STEP,
.data.stepConfig.step = 1
},
{
.adjustmentFunction = ADJUSTMENT_RATE_PROFILE,
.mode = ADJUSTMENT_MODE_SELECT,
.data.selectConfig.switchPositions = 3
}
};
#define ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET 1
typedef struct adjustmentState_s {
uint8_t auxChannelIndex;
uint8_t adjustmentFunction;
uint8_t step;
uint32_t timeoutAt;
} adjustmentState_t;
static adjustmentState_t adjustmentStates[MAX_SIMULTANEOUS_ADJUSTMENT_COUNT];
adjustmentState_t adjustmentStates[MAX_SIMULTANEOUS_ADJUSTMENT_COUNT];
void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adjustmentConfig_t *adjustmentConfig) {
adjustmentState_t *adjustmentState = &adjustmentStates[index];
if (adjustmentState->adjustmentFunction == adjustmentConfig->adjustmentFunction) {
if (adjustmentState->config == adjustmentConfig) {
// already configured
return;
}
adjustmentState->auxChannelIndex = auxSwitchChannelIndex;
adjustmentState->adjustmentFunction = adjustmentConfig->adjustmentFunction;
adjustmentState->step = adjustmentConfig->step;
adjustmentState->config = adjustmentConfig;
adjustmentState->timeoutAt = 0;
MARK_ADJUSTMENT_FUNCTION_AS_READY(index);
}
void applyAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta) {
void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta) {
int newValue;
if (delta > 0) {
@ -421,7 +428,10 @@ void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rx
for (adjustmentIndex = 0; adjustmentIndex < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT; adjustmentIndex++) {
adjustmentState_t *adjustmentState = &adjustmentStates[adjustmentIndex];
uint8_t adjustmentFunction = adjustmentState->adjustmentFunction;
if (!adjustmentState->config) {
continue;
}
uint8_t adjustmentFunction = adjustmentState->config->adjustmentFunction;
if (adjustmentFunction == ADJUSTMENT_NONE) {
continue;
}
@ -437,24 +447,25 @@ void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rx
uint8_t channelIndex = NON_AUX_CHANNEL_COUNT + adjustmentState->auxChannelIndex;
int delta;
if (rcData[channelIndex] > rxConfig->midrc + 200) {
delta = adjustmentState->step;
} else if (rcData[channelIndex] < rxConfig->midrc - 200) {
delta = 0 - adjustmentState->step;
} else {
// returning the switch to the middle immediately resets the ready state
MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
continue;
}
if (adjustmentState->config->mode == ADJUSTMENT_MODE_STEP) {
int delta;
if (rcData[channelIndex] > rxConfig->midrc + 200) {
delta = adjustmentState->config->data.stepConfig.step;
} else if (rcData[channelIndex] < rxConfig->midrc - 200) {
delta = 0 - adjustmentState->config->data.stepConfig.step;
} else {
// returning the switch to the middle immediately resets the ready state
MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
continue;
}
if (IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentIndex)) {
continue;
}
if (IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentIndex)) {
continue;
MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex);
applyStepAdjustment(controlRateConfig, adjustmentFunction, delta);
}
MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex);
applyAdjustment(controlRateConfig, adjustmentFunction, delta);
}
}