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https://github.com/opentx/opentx.git
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[Taranis] Automatic detection of the 6pos switch within the calibration
process
This commit is contained in:
Bertrand Songis
parent
33eeb4cc64
commit
e4b3b3af85
5 changed files with 137 additions and 38 deletions
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@ -1241,16 +1241,37 @@ void menuGeneralHardware(uint8_t event)
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void menuCommonCalib(uint8_t event)
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{
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for (uint8_t i=0; i<NUM_STICKS+NUM_POTS; i++) { //get low and high vals for sticks and trims
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for (uint8_t i=0; i<NUM_STICKS+NUM_POTS; i++) { // get low and high vals for sticks and trims
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int16_t vt = anaIn(i);
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reusableBuffer.calib.loVals[i] = min(vt, reusableBuffer.calib.loVals[i]);
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reusableBuffer.calib.hiVals[i] = max(vt, reusableBuffer.calib.hiVals[i]);
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#if defined(PCBTARANIS)
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if(i >= NUM_STICKS && i < NUM_STICKS+NUM_POTS-2) {
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#else
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if (i >= NUM_STICKS) {
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#endif
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if (i >= POT1 && i <= POT_LAST) {
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reusableBuffer.calib.midVals[i] = (reusableBuffer.calib.hiVals[i] + reusableBuffer.calib.loVals[i]) / 2;
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#if defined(PCBTARANIS)
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uint8_t idx = i - POT1;
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int count = reusableBuffer.calib.xpotsPositionsCount[idx];
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if (count <= 6) {
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bool found = false;
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for (int j=0; j<count; j++) {
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if (vt > reusableBuffer.calib.xpotsPositions[idx][j][0]-20 && vt < reusableBuffer.calib.xpotsPositions[idx][j][0]+20) {
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reusableBuffer.calib.xpotsPositions[idx][j][0] = min(vt, reusableBuffer.calib.xpotsPositions[idx][j][0]);
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reusableBuffer.calib.xpotsPositions[idx][j][1] = max(vt, reusableBuffer.calib.xpotsPositions[idx][j][1]);
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if (reusableBuffer.calib.xpotsPositions[idx][j][1] - reusableBuffer.calib.xpotsPositions[idx][j][0] > 50) {
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reusableBuffer.calib.xpotsPositionsCount[idx] = 255;
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}
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found = true;
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break;
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}
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}
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if (!found) {
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if (count < 6) {
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reusableBuffer.calib.xpotsPositions[idx][count][0] = vt;
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reusableBuffer.calib.xpotsPositions[idx][count][1] = vt;
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}
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reusableBuffer.calib.xpotsPositionsCount[idx] += 1;
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}
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}
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#endif
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}
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}
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@ -1284,6 +1305,11 @@ void menuCommonCalib(uint8_t event)
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reusableBuffer.calib.loVals[i] = 15000;
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reusableBuffer.calib.hiVals[i] = -15000;
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reusableBuffer.calib.midVals[i] = anaIn(i);
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#if defined(PCBTARANIS)
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if (i<NUM_XPOTS) {
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reusableBuffer.calib.xpotsPositionsCount[i] = 0;
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}
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#endif
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}
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break;
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@ -1294,12 +1320,26 @@ void menuCommonCalib(uint8_t event)
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lcd_putsLeft(3*FH, STR_MENUWHENDONE);
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for (uint8_t i=0; i<NUM_STICKS+NUM_POTS; i++) {
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if (abs(reusableBuffer.calib.loVals[i]-reusableBuffer.calib.hiVals[i])>50) {
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g_eeGeneral.calibMid[i] = reusableBuffer.calib.midVals[i];
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#if defined(PCBTARANIS)
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if (i>=POT1 && i<=POT_LAST && reusableBuffer.calib.xpotsPositionsCount[i-POT1] > 1) {
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g_eeGeneral.potsType &= ~(1 << (i-POT1));
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if (reusableBuffer.calib.xpotsPositionsCount[i-POT1] <= 6) {
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StepsCalibData * calib = (StepsCalibData *) &g_eeGeneral.calib[i];
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calib->count = reusableBuffer.calib.xpotsPositionsCount[i-POT1]-1;
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for (int j=0; j<calib->count-1; j++) {
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calib->steps[i] = (reusableBuffer.calib.xpotsPositions[i-POT1][j+1][0] + reusableBuffer.calib.xpotsPositions[i-POT1][j][1]) / 2;
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}
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g_eeGeneral.potsType |= (1 << (i-POT1));
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}
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}
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else
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#endif
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if (abs(reusableBuffer.calib.loVals[i]-reusableBuffer.calib.hiVals[i]) > 50) {
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g_eeGeneral.calib[i].mid = reusableBuffer.calib.midVals[i];
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int16_t v = reusableBuffer.calib.midVals[i] - reusableBuffer.calib.loVals[i];
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g_eeGeneral.calibSpanNeg[i] = v - v/STICK_TOLERANCE;
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g_eeGeneral.calib[i].spanNeg = v - v/STICK_TOLERANCE;
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v = reusableBuffer.calib.hiVals[i] - reusableBuffer.calib.midVals[i];
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g_eeGeneral.calibSpanPos[i] = v - v/STICK_TOLERANCE;
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g_eeGeneral.calib[i].spanPos = v - v/STICK_TOLERANCE;
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}
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}
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break;
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@ -1316,6 +1356,7 @@ void menuCommonCalib(uint8_t event)
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}
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doMainScreenGraphics();
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#if defined(PCBTARANIS)
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drawPotsBars();
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#endif
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@ -1263,7 +1263,14 @@ bool isSwitchAvailable(int16_t swtch)
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swtch = -swtch;
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}
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if (swtch>=SWSRC_FIRST_CSW && swtch<=SWSRC_LAST_CSW) {
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#if defined(PCBTARANIS)
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if (swtch >= SWSRC_P11 && swtch <= SWSRC_P26) {
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int index = (swtch - SWSRC_P11) / 6;
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return (g_eeGeneral.potsType & (1<<index));
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}
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#endif
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if (swtch >= SWSRC_FIRST_CSW && swtch <= SWSRC_LAST_CSW) {
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CustomSwData * cs = cswAddress(swtch-SWSRC_FIRST_CSW);
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return (cs->func != CS_OFF);
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}
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@ -221,7 +221,7 @@ enum BeeperMode {
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};
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#if defined(CPUARM)
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#define EXTRA_GENERAL_FIELDS \
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#define EXTRA_GENERAL_FIELDS_ARM \
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uint8_t backlightBright; \
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int8_t currentCalib; \
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int8_t temperatureWarn; \
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@ -240,6 +240,14 @@ enum BeeperMode {
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int8_t wavVolume; \
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int8_t varioVolume; \
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int8_t backgroundVolume;
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#endif
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#if defined(PCBTARANIS)
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#define EXTRA_GENERAL_FIELDS \
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EXTRA_GENERAL_FIELDS_ARM \
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uint8_t potsType;
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#elif defined(CPUARM)
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#define EXTRA_GENERAL_FIELDS EXTRA_GENERAL_FIELDS_ARM
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#elif defined(PXX)
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#define EXTRA_GENERAL_FIELDS uint8_t countryCode;
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#else
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@ -303,13 +311,24 @@ enum BacklightMode {
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#define SPLASH_MODE uint8_t splashMode:1; uint8_t spare4:2
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#endif
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#if defined(PCBTARANIS)
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PACK(typedef struct {
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int8_t count;
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int8_t steps[5];
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}) StepsCalibData;
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#endif
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PACK(typedef struct {
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int16_t mid;
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int16_t spanNeg;
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int16_t spanPos;
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}) CalibData;
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#define ALTERNATE_VIEW 0x10
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PACK(typedef struct t_EEGeneral {
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uint8_t version;
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uint16_t variant;
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int16_t calibMid[NUM_STICKS+NUM_POTS];
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int16_t calibSpanNeg[NUM_STICKS+NUM_POTS];
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int16_t calibSpanPos[NUM_STICKS+NUM_POTS];
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CalibData calib[NUM_STICKS+NUM_POTS];
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uint16_t chkSum;
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int8_t currModel;
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uint8_t contrast;
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@ -503,7 +503,7 @@ void generalDefault()
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uint16_t evalChkSum()
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{
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uint16_t sum = 0;
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const int16_t *calibValues = &g_eeGeneral.calibMid[0];
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const int16_t *calibValues = (const int16_t *) &g_eeGeneral.calib[0];
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for (int i=0; i<NUM_STICKS+NUM_POTS+5; i++)
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sum += calibValues[i];
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return sum;
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@ -1301,8 +1301,8 @@ uint8_t cswStates[NUM_CSW];
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#if defined(PCBTARANIS)
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tmr10ms_t switchesMidposStart[6] = { 0 };
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uint32_t switchesPos = 0;
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tmr10ms_t potsLastposStart[2];
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uint8_t potsPos[2];
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tmr10ms_t potsLastposStart[NUM_XPOTS];
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uint8_t potsPos[NUM_XPOTS];
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#define DELAY_SWITCH_3POS 10/*100ms*/
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#define CHECK_2POS(sw) newPos |= (switchState(sw ## 0) ? (1 << (sw ## 0 - SW_SA0)) : (1 << (sw ## 0 - SW_SA0 + 1)))
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#define CHECK_3POS(idx, sw) if (switchState(sw ## 0)) { \
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@ -1336,17 +1336,28 @@ void getSwitchesPosition()
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CHECK_2POS(SW_SH);
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switchesPos = newPos;
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for (int i=0; i<2; i++) {
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int val = RESX + (int16_t)anaIn(POT1+i) + (RESX / 5);
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uint8_t pos = limit<uint8_t>(0, val / (2*RESX/5), 5);
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uint8_t previousPos = potsPos[i] >> 4;
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if (pos != previousPos) {
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potsLastposStart[i] = get_tmr10ms();
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potsPos[i] = (pos << 4) | (potsPos[i] & 0x0f);
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}
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else if ((tmr10ms_t)(get_tmr10ms() - potsLastposStart[i]) > DELAY_SWITCH_3POS) {
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potsLastposStart[i] = 0;
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potsPos[i] = (pos << 4) | (pos);
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for (int i=0; i<NUM_XPOTS; i++) {
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if (g_eeGeneral.potsType & (1 << i)) {
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StepsCalibData * calib = (StepsCalibData *) &g_eeGeneral.calib[POT1+i];
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if (calib->count>0 && calib->count<6) {
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uint8_t pos = calib->count;
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int v = (int16_t)anaIn(POT1+i);
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for (int j=0; j<calib->count; j++) {
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if (v < calib->steps[j]) {
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pos = j;
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break;
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}
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}
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uint8_t previousPos = potsPos[i] >> 4;
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if (pos != previousPos) {
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potsLastposStart[i] = get_tmr10ms();
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potsPos[i] = (pos << 4) | (potsPos[i] & 0x0f);
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}
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else if ((tmr10ms_t)(get_tmr10ms() - potsLastposStart[i]) > DELAY_SWITCH_3POS) {
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potsLastposStart[i] = 0;
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potsPos[i] = (pos << 4) | (pos);
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}
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}
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}
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}
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}
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@ -2156,8 +2167,9 @@ void checkTHR()
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int16_t lowLim = THRCHK_DEADBAND - 1024 ;
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#else
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getADC(); // if thr is down - do not display warning at all
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int16_t lowLim = g_eeGeneral.calibMid[thrchn];
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lowLim = (g_model.throttleReversed ? - lowLim - g_eeGeneral.calibSpanPos[thrchn] : lowLim - g_eeGeneral.calibSpanNeg[thrchn]);
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CalibData * calib = &g_eeGeneral.calib[thrchn];
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int16_t lowLim = calib->mid;
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lowLim = (g_model.throttleReversed ? - lowLim - calib->spanPos : lowLim - calib->spanNeg);
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lowLim += THRCHK_DEADBAND;
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#endif
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int16_t v = thrAnaIn(thrchn);
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@ -2495,7 +2507,23 @@ void getADC()
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}
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for (uint32_t x=0; x<NUMBER_ANALOG; x++) {
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s_anaFilt[x] = temp[x] >> 3;
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uint16_t v = temp[x] >> 3;
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#if defined(PCBTARANIS)
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StepsCalibData * calib = (StepsCalibData *) &g_eeGeneral.calib[x];
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if (x >= POT1 && x <= POT_LAST && (g_eeGeneral.potsType & (1<<(x-POT1))) && calib->count>0 && calib->count<6) {
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for (int i=0; i<=calib->count; i++) {
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if (i == calib->count) {
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s_anaFilt[x] = RESX;
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}
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else if (v < calib->steps[i]) {
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s_anaFilt[x] = -RESX + i*2*RESX/calib->count;
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break;
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}
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}
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}
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else
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#endif
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s_anaFilt[x] = v;
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}
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}
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#else
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@ -2743,10 +2771,9 @@ void evalInputs(uint8_t mode)
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#ifndef SIMU
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if (i < NUM_STICKS+NUM_POTS) {
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v -= g_eeGeneral.calibMid[i];
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v = v * (int32_t)RESX / (max((int16_t)100,(v>0 ?
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g_eeGeneral.calibSpanPos[i] :
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g_eeGeneral.calibSpanNeg[i])));
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CalibData * calib = &g_eeGeneral.calib[i];
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v -= calib->mid;
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v = v * (int32_t)RESX / (max((int16_t)100, (v>0 ? calib->spanPos : calib->spanNeg)));
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}
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#endif
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@ -377,7 +377,7 @@ enum EnumKeys {
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#define NUM_SWITCHES 8
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#define IS_3POS(sw) ((sw) != 5 && (sw) != 7)
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#define NUM_POTS 4
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#define NUM_POTSSW (2*6)
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#define NUM_XPOTS 2
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#define NUM_SW_SRCRAW 8
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#define SWSRC_THR SWSRC_SF2
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#define SWSRC_GEA SWSRC_SG2
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@ -390,12 +390,13 @@ enum EnumKeys {
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#define IS_3POS(sw) ((sw) == 0)
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#define IS_MOMENTARY(sw) (sw == SWSRC_TRN)
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#define NUM_POTS 3
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#define NUM_POTSSW 0
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#define NUM_XPOTS 0
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#define NUM_SW_SRCRAW 1
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#define SW_DSM2_BIND SW_TRN
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#endif
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#define NUM_PSWITCH (SWSRC_LAST_SWITCH-SWSRC_FIRST_SWITCH+1)
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#define NUM_POTSSW (NUM_XPOTS*6)
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#define NUM_SWITCH (NUM_PSWITCH+NUM_CSW+NUM_POTSSW)
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#if defined(PCBTARANIS)
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@ -1042,12 +1043,14 @@ enum Analogs {
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#if defined(PCBTARANIS)
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POT1,
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POT2,
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POT_LAST = POT2,
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SLIDER1,
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SLIDER2,
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#else
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POT1,
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POT2,
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POT3,
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POT_LAST = POT3,
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#endif
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TX_VOLTAGE,
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#if defined(PCBSKY9X) && !defined(REVA)
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@ -1565,6 +1568,8 @@ union ReusableBuffer
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int16_t loVals[NUM_STICKS+NUM_POTS];
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int16_t hiVals[NUM_STICKS+NUM_POTS];
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uint8_t state;
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uint8_t xpotsPositionsCount[NUM_XPOTS];
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int16_t xpotsPositions[NUM_XPOTS][6][2];
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} calib;
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#if defined(SDCARD)
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