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[Taranis] Issue #554 Radio part done. We have now modes on trims.
Let's say we are configuring the Rudder Trim on phase 1: - R:0 => Rudder trim = Rudder trim(phase 0) - R+0 => Rudder trim = Rudder trim(phase 0) + Rudder trim(phase 1) - R-- => Rudder trim is OFF Still needs to be done: - The result on screen is awful. I need ideas. Martin? - Companion conversions / UI for this feature - R+1 when configuring Rudder Trim on phase 1 should be impossible
This commit is contained in:
Bertrand Songis
parent
6fd9c47649
commit
046a4d253d
5 changed files with 128 additions and 47 deletions
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@ -1722,7 +1722,7 @@ FlightModesType editFlightModes(uint8_t x, uint8_t y, uint8_t event, FlightModes
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return value;
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}
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#if LCD_W >= 212
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#if defined(PCBTARANIS)
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enum FlightModesItems {
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ITEM_PHASES_NAME,
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@ -1739,7 +1739,7 @@ void editPhaseTrims(uint8_t x, uint8_t y, uint8_t phase, uint8_t event, uint8_t
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static uint8_t cursorPos = 0;
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for (uint8_t t=0; t<NUM_STICKS; t++) {
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putsTrimMode(x+t*FW, y, phase, t, (active && (s_editMode <= 0 || cursorPos==t)) ? INVERS : 0);
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putsTrimMode(x+t*(3*FW-2), y, phase, t, (active && (s_editMode <= 0 || cursorPos==t)) ? INVERS : 0);
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}
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if (active) {
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@ -1747,18 +1747,13 @@ void editPhaseTrims(uint8_t x, uint8_t y, uint8_t phase, uint8_t event, uint8_t
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if (s_editMode > 0) {
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if (p1valdiff || IS_ROTARY_RIGHT(event) || IS_ROTARY_LEFT(event) || event==EVT_KEY_FIRST(KEY_DOWN) || event==EVT_KEY_FIRST(KEY_UP)
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|| event==EVT_KEY_REPT(KEY_DOWN) || event==EVT_KEY_REPT(KEY_UP)) {
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int16_t v = getRawTrimValue(phase, cur);
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if (v < TRIM_EXTENDED_MAX) v = TRIM_EXTENDED_MAX;
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v = checkIncDec(event, v, TRIM_EXTENDED_MAX, TRIM_EXTENDED_MAX+MAX_PHASES-1, EE_MODEL);
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if (checkIncDec_Ret) {
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if (v == TRIM_EXTENDED_MAX) v = 0;
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setTrimValue(phase, cur, v);
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}
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PhaseData *p = phaseAddress(phase);
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trim_t & v = p->trim[cur];
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v.mode = checkIncDec(event, v.mode, -1, 2*MAX_PHASES-1, EE_MODEL);
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}
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switch (event) {
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#if defined(ROTARY_ENCODER_NAVIGATION) || defined(PCBTARANIS)
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case EVT_ROTARY_BREAK:
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case EVT_KEY_BREAK(KEY_ENTER):
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if (s_editMode == EDIT_MODIFY_FIELD) {
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s_editMode = EDIT_MODIFY_STRING;
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cur = 0;
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@ -1768,23 +1763,11 @@ void editPhaseTrims(uint8_t x, uint8_t y, uint8_t phase, uint8_t event, uint8_t
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else
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s_editMode = 0;
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break;
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#endif
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#if !defined(PCBTARANIS)
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case EVT_KEY_BREAK(KEY_LEFT):
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if (cur>0) cur--;
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break;
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case EVT_KEY_BREAK(KEY_RIGHT):
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if (cur<NUM_STICKS-1) cur++;
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break;
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#endif
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#if defined(ROTARY_ENCODER_NAVIGATION) || defined(PCBTARANIS)
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case EVT_ROTARY_LONG:
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case EVT_KEY_LONG(KEY_ENTER):
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s_editMode = 0;
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killEvents(event);
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break;
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#endif
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}
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}
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else {
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@ -1831,32 +1814,32 @@ void menuModelFlightModesAll(uint8_t event)
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switch(j)
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{
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case ITEM_PHASES_NAME:
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editName(4*FW, y, p->name, sizeof(p->name), event, attr);
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editName(4*FW-1, y, p->name, sizeof(p->name), event, attr);
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break;
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case ITEM_PHASES_SWITCH:
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if (k == 0) {
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lcd_puts((5+LEN_FP_NAME)*FW+FW/2, y, STR_DEFAULT);
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lcd_puts((5+LEN_FP_NAME)*FW-FW/2, y, STR_DEFAULT);
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}
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else {
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putsSwitches((5+LEN_FP_NAME)*FW+FW/2, y, p->swtch, attr);
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putsSwitches((5+LEN_FP_NAME)*FW-FW/2, y, p->swtch, attr);
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if (active) CHECK_INCDEC_MODELSWITCH(event, p->swtch, -MAX_SWITCH, MAX_SWITCH);
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}
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break;
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case ITEM_PHASES_TRIMS:
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if (k != 0) {
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editPhaseTrims((10+LEN_FP_NAME)*FW+FW/2, y, k, event, attr);
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editPhaseTrims((10+LEN_FP_NAME)*FW-2*FW, y, k, event, attr);
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}
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break;
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case ITEM_PHASES_FADE_IN:
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lcd_outdezAtt(29*FW, y, (10/DELAY_STEP)*p->fadeIn, attr|PREC1);
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lcd_outdezAtt(32*FW-2, y, (10/DELAY_STEP)*p->fadeIn, attr|PREC1);
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if (active) p->fadeIn = checkIncDec(event, p->fadeIn, 0, DELAY_MAX, EE_MODEL|NO_INCDEC_MARKS);
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break;
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case ITEM_PHASES_FADE_OUT:
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lcd_outdezAtt(34*FW, y, (10/DELAY_STEP)*p->fadeOut, attr|PREC1);
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lcd_outdezAtt(35*FW, y, (10/DELAY_STEP)*p->fadeOut, attr|PREC1);
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if (active) p->fadeOut = checkIncDec(event, p->fadeOut, 0, DELAY_MAX, EE_MODEL|NO_INCDEC_MARKS);
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break;
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@ -1865,7 +1848,7 @@ void menuModelFlightModesAll(uint8_t event)
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}
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}
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#else // LCD_W >= 212
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#else // PCBTARANIS
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enum menuModelPhaseItems {
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ITEM_MODEL_PHASE_NAME,
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@ -1162,9 +1162,31 @@ void putsTmrMode(xcoord_t x, uint8_t y, int8_t mode, LcdFlags att)
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putsSwitches(x, y, mode-(TMR_VAROFS-1), att);
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}
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#if defined(PCBTARANIS)
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void putsTrimMode(xcoord_t x, uint8_t y, uint8_t phase, uint8_t idx, LcdFlags att)
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{
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int16_t v = getRawTrimValue(phase, idx);
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trim_t v = getRawTrimValue(phase, idx);
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putsChnLetter(x, y, idx+1, att);
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if (v.mode < 0) {
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lcd_putsAtt(x+FWNUM, y, "--", att);
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}
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else {
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uint8_t p = v.mode >> 1;
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if (v.mode % 2 == 0) {
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lcd_putcAtt(x+FWNUM, y, '+', att);
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}
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else {
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lcd_putcAtt(x+FWNUM, y, ':', att);
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}
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lcd_putcAtt(x+2*FWNUM, y, '0'+p, att);
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}
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}
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#else
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void putsTrimMode(xcoord_t x, uint8_t y, uint8_t phase, uint8_t idx, LcdFlags att)
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{
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trim_t v = getRawTrimValue(phase, idx);
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if (v > TRIM_EXTENDED_MAX) {
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uint8_t p = v - TRIM_EXTENDED_MAX - 1;
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@ -1175,6 +1197,7 @@ void putsTrimMode(xcoord_t x, uint8_t y, uint8_t phase, uint8_t idx, LcdFlags at
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putsChnLetter(x, y, idx+1, att);
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}
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}
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#endif
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#if ROTARY_ENCODERS > 0
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void putsRotaryEncoderMode(xcoord_t x, uint8_t y, uint8_t phase, uint8_t idx, LcdFlags att)
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@ -1070,8 +1070,17 @@ PACK(typedef struct t_SwashRingData { // Swash Ring data
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#if defined(PCBSTD)
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#define TRIMS_ARRAY int8_t trim[4]; int8_t trim_ext:8
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#define TRIMS_ARRAY_SIZE 5
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#define trim_t int16_t
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#else
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#define TRIMS_ARRAY int16_t trim[4]
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#if defined(PCBTARANIS)
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PACK(typedef struct {
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int16_t value:11;
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int16_t mode:5;
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}) trim_t;
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#else
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#define trim_t int16_t
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#endif
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#define TRIMS_ARRAY trim_t trim[4]
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#define TRIMS_ARRAY_SIZE 8
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#endif
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@ -1640,38 +1640,83 @@ uint8_t getFlightPhase()
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}
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#endif
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int16_t getRawTrimValue(uint8_t phase, uint8_t idx)
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trim_t getRawTrimValue(uint8_t phase, uint8_t idx)
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{
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PhaseData *p = phaseAddress(phase);
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#if defined(PCBSTD)
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return (((int16_t)p->trim[idx]) << 2) + ((p->trim_ext >> (2*idx)) & 0x03);
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return (((trim_t)p->trim[idx]) << 2) + ((p->trim_ext >> (2*idx)) & 0x03);
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#else
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return p->trim[idx];
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#endif
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}
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int16_t getTrimValue(uint8_t phase, uint8_t idx)
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int getTrimValue(uint8_t phase, uint8_t idx)
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{
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#if defined(PCBTARANIS)
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int result = 0;
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for (uint8_t i=0; i<MAX_PHASES; i++) {
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trim_t v = getRawTrimValue(phase, idx);
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if (v.mode < 0) {
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return result;
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}
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else {
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unsigned int p = v.mode >> 1;
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if (p == phase || phase == 0) {
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return result + v.value;
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}
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else {
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phase = p;
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if (v.mode % 2 == 0)
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result += v.value;
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else
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result = 0;
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}
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}
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}
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return 0;
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#else
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return getRawTrimValue(getTrimFlightPhase(phase, idx), idx);
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#endif
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}
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void setTrimValue(uint8_t phase, uint8_t idx, int16_t trim)
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void setTrimValue(uint8_t phase, uint8_t idx, int trim)
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{
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#if defined(PCBTARANIS)
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for (uint8_t i=0; i<MAX_PHASES; i++) {
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trim_t & v = phaseAddress(phase)->trim[idx];
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if (v.mode < 0)
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return;
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unsigned int p = v.mode >> 1;
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if (p == phase || phase == 0) {
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v.value = trim;
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break;;
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}
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else if (v.mode % 2 == 0) {
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v.value = limit<int>(-500, trim - getTrimValue(p, idx), 500);
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break;
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}
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else {
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phase = p;
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}
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}
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#elif defined(PCBSTD)
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PhaseData *p = phaseAddress(phase);
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#if defined(PCBSTD)
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p->trim[idx] = (int8_t)(trim >> 2);
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p->trim_ext = (p->trim_ext & ~(0x03 << (2*idx))) + (((trim & 0x03) << (2*idx)));
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idx <<= 1;
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p->trim_ext = (p->trim_ext & ~(0x03 << idx)) + (((trim & 0x03) << idx));
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#else
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PhaseData *p = phaseAddress(phase);
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p->trim[idx] = trim;
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#endif
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eeDirty(EE_MODEL);
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}
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#if !defined(PCBTARANIS)
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uint8_t getTrimFlightPhase(uint8_t phase, uint8_t idx)
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{
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for (uint8_t i=0; i<MAX_PHASES; i++) {
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if (phase == 0) return 0;
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int16_t trim = getRawTrimValue(phase, idx);
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trim_t trim = getRawTrimValue(phase, idx);
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if (trim <= TRIM_EXTENDED_MAX) return phase;
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uint8_t result = trim-TRIM_EXTENDED_MAX-1;
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if (result >= phase) result++;
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@ -1679,6 +1724,7 @@ uint8_t getTrimFlightPhase(uint8_t phase, uint8_t idx)
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}
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return 0;
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}
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#endif
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#if defined(ROTARY_ENCODERS)
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uint8_t getRotaryEncoderFlightPhase(uint8_t idx)
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@ -2309,7 +2355,7 @@ uint8_t checkTrim(uint8_t event)
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// LH_DWN LH_UP LV_DWN LV_UP RV_DWN RV_UP RH_DWN RH_UP
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uint8_t idx = CONVERT_MODE((uint8_t)k/2);
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uint8_t phase;
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int16_t before;
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int before;
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bool thro;
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#if defined(GVARS)
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@ -2325,13 +2371,21 @@ uint8_t checkTrim(uint8_t event)
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}
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else {
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phase = getTrimFlightPhase(s_perout_flight_phase, idx);
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#if defined(PCBTARANIS)
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before = getTrimValue(phase, idx);
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#else
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before = getRawTrimValue(phase, idx);
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#endif
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thro = (idx==THR_STICK && g_model.thrTrim);
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}
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#else
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#define TRIM_REUSED() 0
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phase = getTrimFlightPhase(s_perout_flight_phase, idx);
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#if defined(PCBTARANIS)
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before = getTrimValue(phase, idx);
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#else
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before = getRawTrimValue(phase, idx);
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#endif
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thro = (idx==THR_STICK && g_model.thrTrim);
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#endif
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int8_t trimInc = g_model.trimInc + 1;
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@ -4671,7 +4725,7 @@ void instantTrim()
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if (i!=THR_STICK) {
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// don't instant trim the throttle stick
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uint8_t trim_phase = getTrimFlightPhase(s_perout_flight_phase, i);
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int16_t trim = limit((int16_t)TRIM_EXTENDED_MIN, (int16_t)((anas[i] + trims[i]) / 2), (int16_t)TRIM_EXTENDED_MAX);
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int16_t trim = limit<int16_t>(TRIM_EXTENDED_MIN, (anas[i] + trims[i]) / 2, TRIM_EXTENDED_MAX);
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setTrimValue(trim_phase, i, trim);
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}
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}
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@ -4729,9 +4783,16 @@ void moveTrimsToOffsets() // copy state of 3 primary to subtrim
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if (i!=THR_STICK || !g_model.thrTrim) {
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int16_t original_trim = getTrimValue(s_perout_flight_phase, i);
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for (uint8_t phase=0; phase<MAX_PHASES; phase++) {
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int16_t trim = getRawTrimValue(phase, i);
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#if defined(PCBTARANIS)
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// TODO needs to be tested.
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trim_t trim = getRawTrimValue(phase, i);
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if (trim.mode / 2 == phase)
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setTrimValue(phase, i, trim.value - original_trim);
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#else
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trim_t trim = getRawTrimValue(phase, i);
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if (trim <= TRIM_EXTENDED_MAX)
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setTrimValue(phase, i, trim - original_trim);
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#endif
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}
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}
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}
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@ -867,10 +867,15 @@ int8_t getMovedSwitch();
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#define getFlightPhase() 0
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#endif
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extern uint8_t getTrimFlightPhase(uint8_t phase, uint8_t idx);
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extern int16_t getRawTrimValue(uint8_t phase, uint8_t idx);
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extern int16_t getTrimValue(uint8_t phase, uint8_t idx);
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extern void setTrimValue(uint8_t phase, uint8_t idx, int16_t trim);
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#if !defined(PCBTARANIS)
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uint8_t getTrimFlightPhase(uint8_t phase, uint8_t idx);
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#else
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#define getTrimFlightPhase(phase, idx) (phase)
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#endif
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trim_t getRawTrimValue(uint8_t phase, uint8_t idx);
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int getTrimValue(uint8_t phase, uint8_t idx);
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void setTrimValue(uint8_t phase, uint8_t idx, int trim);
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#if defined(ROTARY_ENCODERS)
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int16_t getRotaryEncoder(uint8_t idx);
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