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opentx/radio/src/mixer.cpp
bsongis eea1c3a84c SAFETY renamed to OVERRIDE
2014-07-21 20:38:44 +02:00

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/*
* Authors (alphabetical order)
* - Andre Bernet <bernet.andre@gmail.com>
* - Andreas Weitl
* - Bertrand Songis <bsongis@gmail.com>
* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
* - Cameron Weeks <th9xer@gmail.com>
* - Erez Raviv
* - Gabriel Birkus
* - Jean-Pierre Parisy
* - Karl Szmutny
* - Michael Blandford
* - Michal Hlavinka
* - Pat Mackenzie
* - Philip Moss
* - Rob Thomson
* - Romolo Manfredini <romolo.manfredini@gmail.com>
* - Thomas Husterer
*
* opentx is based on code named
* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
* er9x by Erez Raviv: http://code.google.com/p/er9x/,
* and the original (and ongoing) project by
* Thomas Husterer, th9x: http://code.google.com/p/th9x/
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
*/
#include "opentx.h"
#if defined(PCBTARANIS)
int8_t virtualInputsTrims[NUM_INPUTS];
#else
int16_t rawAnas[NUM_INPUTS] = {0};
#endif
int16_t anas [NUM_INPUTS] = {0};
int16_t trims[NUM_STICKS] = {0};
int32_t chans[NUM_CHNOUT] = {0};
BeepANACenter bpanaCenter = 0;
int24_t act [MAX_MIXERS] = {0};
SwOn swOn [MAX_MIXERS]; // TODO better name later...
uint8_t mixWarning;
#if defined(MODULE_ALWAYS_SEND_PULSES)
uint8_t startupWarningState;
#endif
int16_t calibratedStick[NUM_STICKS+NUM_POTS];
int16_t channelOutputs[NUM_CHNOUT] = {0};
int16_t ex_chans[NUM_CHNOUT] = {0}; // Outputs (before LIMITS) of the last perMain;
#if defined(HELI)
int16_t cyc_anas[3] = {0};
#if defined(PCBTARANIS)
int16_t heliAnas[4] = {0};
#endif
#endif
void applyExpos(int16_t *anas, uint8_t mode APPLY_EXPOS_EXTRA_PARAMS)
{
#if defined(PCBTARANIS)
#if defined(HELI)
int16_t heliAnasCopy[4];
memcpy(heliAnasCopy, heliAnas, sizeof(heliAnasCopy));
#endif
#else
int16_t anas2[NUM_INPUTS]; // values before expo, to ensure same expo base when multiple expo lines are used
memcpy(anas2, anas, sizeof(anas2));
#endif
int8_t cur_chn = -1;
for (uint8_t i=0; i<MAX_EXPOS; i++) {
#if defined(BOLD_FONT)
if (mode==e_perout_mode_normal) swOn[i].activeExpo = false;
#endif
ExpoData * ed = expoAddress(i);
if (!EXPO_VALID(ed)) break; // end of list
if (ed->chn == cur_chn)
continue;
if (ed->flightModes & (1<<mixerCurrentFlightMode))
continue;
if (getSwitch(ed->swtch)) {
#if defined(PCBTARANIS)
int v;
if (ed->srcRaw == ovwrIdx)
v = ovwrValue;
#if defined(HELI)
else if (ed->srcRaw == MIXSRC_Ele)
v = heliAnasCopy[ELE_STICK];
else if (ed->srcRaw == MIXSRC_Ail)
v = heliAnasCopy[AIL_STICK];
#endif
else {
v = getValue(ed->srcRaw);
if (ed->srcRaw >= MIXSRC_FIRST_TELEM && ed->scale > 0) {
v = limit(-1024, int((v * 1024) / convertTelemValue(ed->srcRaw-MIXSRC_FIRST_TELEM+1, ed->scale)), 1024);
}
}
#else
int16_t v = anas2[ed->chn];
#endif
if (EXPO_MODE_ENABLE(ed, v)) {
#if defined(BOLD_FONT)
if (mode==e_perout_mode_normal) swOn[i].activeExpo = true;
#endif
cur_chn = ed->chn;
//========== CURVE=================
#if defined(PCBTARANIS)
if (ed->curve.value) {
v = applyCurve(v, ed->curve);
}
#else
int8_t curveParam = ed->curveParam;
if (curveParam) {
if (ed->curveMode == MODE_CURVE)
v = applyCurve(v, curveParam);
else
v = expo(v, GET_GVAR(curveParam, -100, 100, mixerCurrentFlightMode));
}
#endif
//========== WEIGHT ===============
int16_t weight = GET_GVAR(ed->weight, MIN_EXPO_WEIGHT, 100, mixerCurrentFlightMode);
weight = calc100to256(weight);
v = ((int32_t)v * weight) >> 8;
#if defined(PCBTARANIS)
//========== OFFSET ===============
int16_t offset = GET_GVAR(ed->offset, -100, 100, mixerCurrentFlightMode);
if (offset) v += calc100toRESX(offset);
//========== TRIMS ================
if (ed->carryTrim < TRIM_ON)
virtualInputsTrims[cur_chn] = -ed->carryTrim - 1;
else if (ed->carryTrim == TRIM_ON && ed->srcRaw >= MIXSRC_Rud && ed->srcRaw <= MIXSRC_Ail)
virtualInputsTrims[cur_chn] = ed->srcRaw - MIXSRC_Rud;
else
virtualInputsTrims[cur_chn] = -1;
#if defined(HELI)
if (ed->srcRaw == MIXSRC_Ele)
heliAnas[ELE_STICK] = v;
else if (ed->srcRaw == MIXSRC_Ail)
heliAnas[AIL_STICK] = v;
#endif
#endif
anas[cur_chn] = v;
}
}
}
}
// #define PREVENT_ARITHMETIC_OVERFLOW
// because of optimizations the reserves before overruns occurs is only the half
// this defines enables some checks the greatly improves this situation
// It should nearly prevent all overruns (is still a chance for it, but quite low)
// negative side is code cost 96 bytes flash
// we do it now half way, only in applyLimits, which costs currently 50bytes
// according opinion poll this topic is currently not very important
// the change below improves already the situation
// the check inside mixer would slow down mix a little bit and costs additionally flash
// also the check inside mixer still is not bulletproof, there may be still situations a overflow could occur
// a bulletproof implementation would take about additional 100bytes flash
// therefore with go with this compromize, interested people could activate this define
// @@@2 open.20.fsguruh ;
// channel = channelnumber -1;
// value = outputvalue with 100 mulitplied usual range -102400 to 102400; output -1024 to 1024
// changed rescaling from *100 to *256 to optimize performance
// rescaled from -262144 to 262144
int16_t applyLimits(uint8_t channel, int32_t value)
{
LimitData * lim = limitAddress(channel);
#if defined(PCBTARANIS)
if (lim->curve) {
// TODO we loose precision here, applyCustomCurve could work with int32_t on ARM boards...
if (lim->curve > 0)
value = 256 * applyCustomCurve(value/256, lim->curve-1);
else
value = 256 * applyCustomCurve(-value/256, -lim->curve-1);
}
#endif
int16_t ofs = LIMIT_OFS_RESX(lim);
int16_t lim_p = LIMIT_MAX_RESX(lim);
int16_t lim_n = LIMIT_MIN_RESX(lim);
if (ofs > lim_p) ofs = lim_p;
if (ofs < lim_n) ofs = lim_n;
// because the rescaling optimization would reduce the calculation reserve we activate this for all builds
// it increases the calculation reserve from factor 20,25x to 32x, which it slightly better as original
// without it we would only have 16x which is slightly worse as original, we should not do this
// thanks to gbirkus, he motivated this change, which greatly reduces overruns
// unfortunately the constants and 32bit compares generates about 50 bytes codes; didn't find a way to get it down.
value = limit(int32_t(-RESXl*256), value, int32_t(RESXl*256)); // saves 2 bytes compared to other solutions up to now
#if defined(PPM_LIMITS_SYMETRICAL)
if (value) {
int16_t tmp;
if (lim->symetrical)
tmp = (value > 0) ? (lim_p) : (-lim_n);
else
tmp = (value > 0) ? (lim_p - ofs) : (-lim_n + ofs);
value = (int32_t) value * tmp; // div by 1024*256 -> output = -1024..1024
#else
if (value) {
int16_t tmp = (value > 0) ? (lim_p - ofs) : (-lim_n + ofs);
value = (int32_t) value * tmp; // div by 1024*256 -> output = -1024..1024
#endif
#ifdef CORRECT_NEGATIVE_SHIFTS
int8_t sign = (value<0?1:0);
value -= sign;
tmp = value>>16; // that's quite tricky: the shiftright 16 operation is assmbled just with addressmove; just forget the two least significant bytes;
tmp >>= 2; // now one simple shift right for two bytes does the rest
tmp += sign;
#else
tmp = value>>16; // that's quite tricky: the shiftright 16 operation is assmbled just with addressmove; just forget the two least significant bytes;
tmp >>= 2; // now one simple shift right for two bytes does the rest
#endif
ofs += tmp; // ofs can to added directly because already recalculated,
}
if (ofs > lim_p) ofs = lim_p;
if (ofs < lim_n) ofs = lim_n;
if (lim->revert) ofs = -ofs; // finally do the reverse.
#if defined(OVERRIDE_CHANNEL_FUNCTION)
if (safetyCh[channel] != -128) // if safety channel available for channel check
ofs = calc100toRESX(safetyCh[channel]);
#endif
return ofs;
}
// TODO same naming convention than the putsMixerSource
getvalue_t getValue(uint8_t i)
{
if (i==MIXSRC_NONE) return 0;
#if defined(PCBTARANIS)
else if (i <= MIXSRC_LAST_INPUT) {
return anas[i-MIXSRC_FIRST_INPUT];
}
#endif
#if defined(PCBTARANIS)
else if (i<MIXSRC_LAST_LUA) {
#if defined(LUA_MODEL_SCRIPTS)
div_t qr = div(i-MIXSRC_FIRST_LUA, MAX_SCRIPT_OUTPUTS);
return scriptInputsOutputs[qr.quot].outputs[qr.rem].value;
#else
return 0;
#endif
}
#endif
else if (i<=MIXSRC_LAST_POT) return calibratedStick[i-MIXSRC_Rud];
#if defined(PCBGRUVIN9X) || defined(PCBMEGA2560) || defined(ROTARY_ENCODERS)
else if (i<=MIXSRC_LAST_ROTARY_ENCODER) return getRotaryEncoder(i-MIXSRC_REa);
#endif
else if (i==MIXSRC_MAX) return 1024;
else if (i<=MIXSRC_CYC3)
#if defined(HELI)
return cyc_anas[i-MIXSRC_CYC1];
#else
return 0;
#endif
else if (i<=MIXSRC_TrimAil) return calc1000toRESX((int16_t)8 * getTrimValue(mixerCurrentFlightMode, i-MIXSRC_TrimRud));
#if defined(PCBTARANIS)
else if (i==MIXSRC_SA) return (switchState(SW_SA0) ? -1024 : (switchState(SW_SA1) ? 0 : 1024));
else if (i==MIXSRC_SB) return (switchState(SW_SB0) ? -1024 : (switchState(SW_SB1) ? 0 : 1024));
else if (i==MIXSRC_SC) return (switchState(SW_SC0) ? -1024 : (switchState(SW_SC1) ? 0 : 1024));
else if (i==MIXSRC_SD) return (switchState(SW_SD0) ? -1024 : (switchState(SW_SD1) ? 0 : 1024));
else if (i==MIXSRC_SE) return (switchState(SW_SE0) ? -1024 : (switchState(SW_SE1) ? 0 : 1024));
else if (i==MIXSRC_SF) return (switchState(SW_SF0) ? -1024 : 1024);
else if (i==MIXSRC_SG) return (switchState(SW_SG0) ? -1024 : (switchState(SW_SG1) ? 0 : 1024));
else if (i==MIXSRC_SH) return (switchState(SW_SH0) ? -1024 : 1024);
#else
else if (i==MIXSRC_3POS) return (getSwitch(SW_ID0-SW_BASE+1) ? -1024 : (getSwitch(SW_ID1-SW_BASE+1) ? 0 : 1024));
// don't use switchState directly to give getSwitch possibility to hack values if needed for switch warning
#if defined(EXTRA_3POS)
else if (i==MIXSRC_3POS2) return (getSwitch(SW_ID3-SW_BASE+1) ? -1024 : (getSwitch(SW_ID4-SW_BASE+1) ? 0 : 1024));
// don't use switchState directly to give getSwitch possibility to hack values if needed for switch warning
#endif
else if (i<MIXSRC_SW1) return getSwitch(SWSRC_THR+i-MIXSRC_THR) ? 1024 : -1024;
#endif
else if (i<=MIXSRC_LAST_LOGICAL_SWITCH) return getSwitch(SWSRC_FIRST_LOGICAL_SWITCH+i-MIXSRC_FIRST_LOGICAL_SWITCH) ? 1024 : -1024;
else if (i<=MIXSRC_LAST_TRAINER) { int16_t x = g_ppmIns[i-MIXSRC_FIRST_TRAINER]; if (i<MIXSRC_FIRST_TRAINER+NUM_CAL_PPM) { x-= g_eeGeneral.trainer.calib[i-MIXSRC_FIRST_TRAINER]; } return x*2; }
else if (i<=MIXSRC_LAST_CH) return ex_chans[i-MIXSRC_CH1];
#if defined(GVARS)
else if (i<=MIXSRC_LAST_GVAR) return GVAR_VALUE(i-MIXSRC_GVAR1, getGVarFlightPhase(mixerCurrentFlightMode, i-MIXSRC_GVAR1));
#endif
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_TX_VOLTAGE) return g_vbat100mV;
#if defined(CPUARM) && defined(RTCLOCK)
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_TX_TIME) {
struct gtm t;
gettime(&t);
return t.tm_hour*60 + t.tm_min;
}
#endif
else if (i<=MIXSRC_FIRST_TELEM-1+TELEM_TIMER2) return timersStates[i-MIXSRC_FIRST_TELEM+1-TELEM_TIMER1].val;
#if defined(FRSKY)
#if defined(CPUARM)
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_SWR) return frskyData.swr.value;
#endif
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_RSSI_TX) return frskyData.rssi[1].value;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_RSSI_RX) return frskyData.rssi[0].value;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_A1) return frskyData.analog[TELEM_ANA_A1].value;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_A2) return frskyData.analog[TELEM_ANA_A2].value;
#if defined(CPUARM)
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_A3) return frskyData.analog[TELEM_ANA_A3].value;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_A4) return frskyData.analog[TELEM_ANA_A4].value;
#endif
#if defined(FRSKY_SPORT)
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_ALT) return frskyData.hub.baroAltitude;
#elif defined(FRSKY_HUB) || defined(WS_HOW_HIGH)
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_ALT) return TELEMETRY_RELATIVE_BARO_ALT_BP;
#endif
#if defined(FRSKY_HUB)
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_RPM) return frskyData.hub.rpm;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_FUEL) return frskyData.hub.fuelLevel;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_T1) return frskyData.hub.temperature1;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_T2) return frskyData.hub.temperature2;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_SPEED) return TELEMETRY_GPS_SPEED_BP;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_DIST) return frskyData.hub.gpsDistance;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_GPSALT) return TELEMETRY_RELATIVE_GPS_ALT_BP;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_CELL) return (int16_t)TELEMETRY_MIN_CELL_VOLTAGE;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_CELLS_SUM) return (int16_t)frskyData.hub.cellsSum;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_VFAS) return (int16_t)frskyData.hub.vfas;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_CURRENT) return (int16_t)frskyData.hub.current;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_CONSUMPTION) return frskyData.hub.currentConsumption;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_POWER) return frskyData.hub.power;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_ACCx) return frskyData.hub.accelX;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_ACCy) return frskyData.hub.accelY;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_ACCz) return frskyData.hub.accelZ;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_HDG) return frskyData.hub.gpsCourse_bp;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_VSPEED) return frskyData.hub.varioSpeed;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_ASPEED) return frskyData.hub.airSpeed;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_DTE) return frskyData.hub.dTE;
else if (i<=MIXSRC_FIRST_TELEM-1+TELEM_MIN_A1) return frskyData.analog[TELEM_ANA_A1].min;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_MIN_A2) return frskyData.analog[TELEM_ANA_A2].min;
#if defined(CPUARM)
else if (i<=MIXSRC_FIRST_TELEM-1+TELEM_MIN_A3) return frskyData.analog[TELEM_ANA_A3].min;
else if (i==MIXSRC_FIRST_TELEM-1+TELEM_MIN_A4) return frskyData.analog[TELEM_ANA_A4].min;
#endif
else if (i<=MIXSRC_FIRST_TELEM-1+TELEM_CSW_MAX) return *(((int16_t*)(&frskyData.hub.minAltitude))+i-(MIXSRC_FIRST_TELEM-1+TELEM_MIN_ALT));
#endif
#endif
else return 0;
}
void evalInputs(uint8_t mode)
{
BeepANACenter anaCenter = 0;
#if defined(HELI)
uint16_t d = 0;
if (g_model.swashR.value) {
uint32_t v = (int32_t(calibratedStick[ELE_STICK])*calibratedStick[ELE_STICK] + int32_t(calibratedStick[AIL_STICK])*calibratedStick[AIL_STICK]);
uint32_t q = calc100toRESX(g_model.swashR.value);
q *= q;
if (v > q) {
d = isqrt32(v);
}
}
#endif
for (uint8_t i=0; i<NUM_STICKS+NUM_POTS+NUM_ROTARY_ENCODERS; i++) {
// normalization [0..2048] -> [-1024..1024]
uint8_t ch = (i < NUM_STICKS ? CONVERT_MODE(i) : i);
#if defined(ROTARY_ENCODERS)
int16_t v = ((i < NUM_STICKS+NUM_POTS) ? anaIn(i) : getRotaryEncoder(i-(NUM_STICKS+NUM_POTS)));
#else
int16_t v = anaIn(i);
#endif
#if !defined(SIMU)
if (i < NUM_STICKS+NUM_POTS) {
if (IS_POT_MULTIPOS(i)) {
v -= RESX;
}
else {
CalibData * calib = &g_eeGeneral.calib[i];
v -= calib->mid;
v = v * (int32_t)RESX / (max((int16_t)100, (v>0 ? calib->spanPos : calib->spanNeg)));
}
}
#endif
if (v < -RESX) v = -RESX;
if (v > RESX) v = RESX;
#if defined(PCBTARANIS)
if (i==POT1 || i==SLIDER1) {
v = -v;
}
#endif
if (g_model.throttleReversed && ch==THR_STICK) {
v = -v;
}
#if defined(EXTRA_3POS)
if (i == POT1+EXTRA_3POS-1) {
if (v < -RESX/2)
v = -RESX;
else if (v > +RESX/2)
v = +RESX;
else
v = 0;
}
#endif
BeepANACenter mask = (BeepANACenter)1 << ch;
if (i < NUM_STICKS+NUM_POTS) {
calibratedStick[ch] = v; // for show in expo
// filtering for center beep
uint8_t tmp = (uint16_t)abs(v) / 16;
#if defined(CPUARM)
if (mode == e_perout_mode_normal) {
if (tmp==0 || (tmp==1 && (bpanaCenter & mask))) {
anaCenter |= mask;
if ((g_model.beepANACenter & mask) && !(bpanaCenter & mask) && !calibrationState) {
AUDIO_POT_MIDDLE(i);
}
}
}
#else
if (tmp <= 1) anaCenter |= (tmp==0 ? mask : (bpanaCenter & mask));
#endif
}
else {
// rotary encoders
if (v == 0) anaCenter |= mask;
}
if (ch < NUM_STICKS) { //only do this for sticks
#if defined(PCBTARANIS)
if (mode & e_perout_mode_nosticks) {
v = calibratedStick[ch] = 0;
}
#endif
if (mode <= e_perout_mode_inactive_flight_mode && isFunctionActive(FUNCTION_TRAINER+ch) && ppmInValid) {
// trainer mode
TrainerMix* td = &g_eeGeneral.trainer.mix[ch];
if (td->mode) {
uint8_t chStud = td->srcChn;
int32_t vStud = (g_ppmIns[chStud]- g_eeGeneral.trainer.calib[chStud]);
vStud *= td->studWeight;
vStud /= 50;
switch (td->mode) {
case 1: v += vStud; break; // add-mode
case 2: v = vStud; break; // subst-mode
}
#if defined(PCBTARANIS)
calibratedStick[ch] = v;
#endif
}
}
#if defined(HELI)
if (d && (ch==ELE_STICK || ch==AIL_STICK)) {
v = (int32_t(v) * calc100toRESX(g_model.swashR.value)) / int32_t(d);
}
#if defined(PCBTARANIS)
heliAnas[ch] = v;
#endif
#endif
#if !defined(PCBTARANIS)
rawAnas[ch] = v;
anas[ch] = v; //set values for mixer
#endif
}
}
/* TRIMs */
evalTrims();
/* EXPOs */
applyExpos(anas, mode);
if (mode == e_perout_mode_normal) {
#if !defined(CPUARM)
anaCenter &= g_model.beepANACenter;
if(((bpanaCenter ^ anaCenter) & anaCenter)) AUDIO_POT_MIDDLE();
#endif
bpanaCenter = anaCenter;
}
}
#if defined(PCBTARANIS)
#define HELI_ANAS_ARRAY heliAnas
#else
#define HELI_ANAS_ARRAY anas
#endif
uint8_t mixerCurrentFlightMode;
void evalFlightModeMixes(uint8_t mode, uint8_t tick10ms)
{
evalInputs(mode);
if (tick10ms) evalLogicalSwitches(mode==e_perout_mode_normal);
#if defined(MODULE_ALWAYS_SEND_PULSES)
checkStartupWarnings();
#endif
#if defined(HELI)
if (g_model.swashR.value) {
uint32_t v = ((int32_t)HELI_ANAS_ARRAY[ELE_STICK]*HELI_ANAS_ARRAY[ELE_STICK] + (int32_t)HELI_ANAS_ARRAY[AIL_STICK]*HELI_ANAS_ARRAY[AIL_STICK]);
uint32_t q = calc100toRESX(g_model.swashR.value);
q *= q;
if (v>q) {
uint16_t d = isqrt32(v);
int16_t tmp = calc100toRESX(g_model.swashR.value);
HELI_ANAS_ARRAY[ELE_STICK] = (int32_t) HELI_ANAS_ARRAY[ELE_STICK]*tmp/d;
HELI_ANAS_ARRAY[AIL_STICK] = (int32_t) HELI_ANAS_ARRAY[AIL_STICK]*tmp/d;
}
}
#define REZ_SWASH_X(x) ((x) - (x)/8 - (x)/128 - (x)/512) // 1024*sin(60) ~= 886
#define REZ_SWASH_Y(x) ((x)) // 1024 => 1024
if (g_model.swashR.type) {
getvalue_t vp = HELI_ANAS_ARRAY[ELE_STICK]+trims[ELE_STICK];
getvalue_t vr = HELI_ANAS_ARRAY[AIL_STICK]+trims[AIL_STICK];
getvalue_t vc = 0;
if (g_model.swashR.collectiveSource)
vc = getValue(g_model.swashR.collectiveSource);
if (g_model.swashR.invertELE) vp = -vp;
if (g_model.swashR.invertAIL) vr = -vr;
if (g_model.swashR.invertCOL) vc = -vc;
switch (g_model.swashR.type) {
case SWASH_TYPE_120:
vp = REZ_SWASH_Y(vp);
vr = REZ_SWASH_X(vr);
cyc_anas[0] = vc - vp;
cyc_anas[1] = vc + vp/2 + vr;
cyc_anas[2] = vc + vp/2 - vr;
break;
case SWASH_TYPE_120X:
vp = REZ_SWASH_X(vp);
vr = REZ_SWASH_Y(vr);
cyc_anas[0] = vc - vr;
cyc_anas[1] = vc + vr/2 + vp;
cyc_anas[2] = vc + vr/2 - vp;
break;
case SWASH_TYPE_140:
vp = REZ_SWASH_Y(vp);
vr = REZ_SWASH_Y(vr);
cyc_anas[0] = vc - vp;
cyc_anas[1] = vc + vp + vr;
cyc_anas[2] = vc + vp - vr;
break;
case SWASH_TYPE_90:
vp = REZ_SWASH_Y(vp);
vr = REZ_SWASH_Y(vr);
cyc_anas[0] = vc - vp;
cyc_anas[1] = vc + vr;
cyc_anas[2] = vc - vr;
break;
default:
break;
}
}
#endif
memclear(chans, sizeof(chans)); // All outputs to 0
//========== MIXER LOOP ===============
uint8_t lv_mixWarning = 0;
uint8_t pass = 0;
bitfield_channels_t dirtyChannels = (bitfield_channels_t)-1; // all dirty when mixer starts
do {
bitfield_channels_t passDirtyChannels = 0;
for (uint8_t i=0; i<MAX_MIXERS; i++) {
#if defined(BOLD_FONT)
if (mode==e_perout_mode_normal && pass==0) swOn[i].activeMix = 0;
#endif
MixData *md = mixAddress(i);
if (md->srcRaw == 0) break;
uint8_t stickIndex = md->srcRaw - MIXSRC_Rud;
if (!(dirtyChannels & ((bitfield_channels_t)1 << md->destCh))) continue;
// if this is the first calculation for the destination channel, initialize it with 0 (otherwise would be random)
if (i == 0 || md->destCh != (md-1)->destCh) {
chans[md->destCh] = 0;
}
//========== PHASE && SWITCH =====
bool mixCondition = (md->flightModes != 0 || md->swtch);
delayval_t mixEnabled = !(md->flightModes & (1 << mixerCurrentFlightMode)) && getSwitch(md->swtch);
if (mixEnabled && md->srcRaw >= MIXSRC_FIRST_TRAINER && md->srcRaw <= MIXSRC_LAST_TRAINER && !ppmInValid) {
mixEnabled = 0;
}
//========== VALUE ===============
getvalue_t v = 0;
if (mode > e_perout_mode_inactive_flight_mode) {
#if defined(PCBTARANIS)
if (!mixEnabled) {
continue;
}
else {
v = getValue(md->srcRaw);
}
#else
if (!mixEnabled || stickIndex >= NUM_STICKS || (stickIndex == THR_STICK && g_model.thrTrim)) {
continue;
}
else {
if (!(mode & e_perout_mode_nosticks)) v = anas[stickIndex];
}
#endif
}
else {
#if !defined(PCBTARANIS)
if (stickIndex < NUM_STICKS) {
v = md->noExpo ? rawAnas[stickIndex] : anas[stickIndex];
}
else
#endif
{
int8_t srcRaw = MIXSRC_Rud + stickIndex;
v = getValue(srcRaw);
srcRaw -= MIXSRC_CH1;
if (srcRaw>=0 && srcRaw<=MIXSRC_LAST_CH-MIXSRC_CH1 && md->destCh != srcRaw) {
if (dirtyChannels & ((bitfield_channels_t)1 << srcRaw) & (passDirtyChannels|~(((bitfield_channels_t) 1 << md->destCh)-1)))
passDirtyChannels |= (bitfield_channels_t) 1 << md->destCh;
if (srcRaw < md->destCh || pass > 0)
v = chans[srcRaw] >> 8;
}
}
if (!mixCondition) {
mixEnabled = v >> DELAY_POS_SHIFT;
}
}
bool apply_offset_and_curve = true;
//========== DELAYS ===============
delayval_t _swOn = swOn[i].now;
delayval_t _swPrev = swOn[i].prev;
bool swTog = (mixEnabled > _swOn+DELAY_POS_MARGIN || mixEnabled < _swOn-DELAY_POS_MARGIN);
if (mode==e_perout_mode_normal && swTog) {
if (!swOn[i].delay) _swPrev = _swOn;
swOn[i].delay = (mixEnabled > _swOn ? md->delayUp : md->delayDown) * (100/DELAY_STEP);
swOn[i].now = mixEnabled;
swOn[i].prev = _swPrev;
}
if (mode==e_perout_mode_normal && swOn[i].delay > 0) {
swOn[i].delay = max<int16_t>(0, (int16_t)swOn[i].delay - tick10ms);
if (!mixCondition)
v = _swPrev << DELAY_POS_SHIFT;
else if (mixEnabled)
continue;
}
else {
if (mode==e_perout_mode_normal) {
swOn[i].now = swOn[i].prev = mixEnabled;
}
if (!mixEnabled) {
if ((md->speedDown || md->speedUp) && md->mltpx!=MLTPX_REP) {
if (mixCondition) {
v = (md->mltpx == MLTPX_ADD ? 0 : RESX);
apply_offset_and_curve = false;
}
}
else if (mixCondition) {
continue;
}
}
}
if (mode==e_perout_mode_normal && (!mixCondition || mixEnabled || swOn[i].delay)) {
if (md->mixWarn) lv_mixWarning |= 1 << (md->mixWarn - 1);
#if defined(BOLD_FONT)
swOn[i].activeMix = true;
#endif
}
if (apply_offset_and_curve) {
//========== TRIMS ================
if (!(mode & e_perout_mode_notrims)) {
#if defined(PCBTARANIS)
if (md->carryTrim == 0) {
int8_t mix_trim;
if (stickIndex < NUM_STICKS)
mix_trim = stickIndex;
else if (md->srcRaw <= MIXSRC_LAST_INPUT)
mix_trim = virtualInputsTrims[md->srcRaw-1];
else
mix_trim = -1;
if (mix_trim >= 0) {
int16_t trim = trims[mix_trim];
if (mix_trim == THR_STICK && g_model.throttleReversed)
v -= trim;
else
v += trim;
}
}
#else
int8_t mix_trim = md->carryTrim;
if (mix_trim < TRIM_ON)
mix_trim = -mix_trim - 1;
else if (mix_trim == TRIM_ON && stickIndex < NUM_STICKS)
mix_trim = stickIndex;
else
mix_trim = -1;
if (mix_trim >= 0) {
int16_t trim = trims[mix_trim];
if (mix_trim == THR_STICK && g_model.throttleReversed)
v -= trim;
else
v += trim;
}
#endif
}
}
// saves 12 bytes code if done here and not together with weight; unknown reason
int16_t weight = GET_GVAR(MD_WEIGHT(md), GV_RANGELARGE_NEG, GV_RANGELARGE, mixerCurrentFlightMode);
weight = calc100to256_16Bits(weight);
//========== SPEED ===============
// now its on input side, but without weight compensation. More like other remote controls
// lower weight causes slower movement
if (mode <= e_perout_mode_inactive_flight_mode && (md->speedUp || md->speedDown)) { // there are delay values
#define DEL_MULT_SHIFT 8
// we recale to a mult 256 higher value for calculation
int32_t tact = act[i];
int16_t diff = v - (tact>>DEL_MULT_SHIFT);
if (diff) {
// open.20.fsguruh: speed is defined in % movement per second; In menu we specify the full movement (-100% to 100%) = 200% in total
// the unit of the stored value is the value from md->speedUp or md->speedDown divide SLOW_STEP seconds; e.g. value 4 means 4/SLOW_STEP = 2 seconds for CPU64
// because we get a tick each 10msec, we need 100 ticks for one second
// the value in md->speedXXX gives the time it should take to do a full movement from -100 to 100 therefore 200%. This equals 2048 in recalculated internal range
if (tick10ms || !s_mixer_first_run_done) {
// only if already time is passed add or substract a value according the speed configured
int32_t rate = (int32_t) tick10ms << (DEL_MULT_SHIFT+11); // = DEL_MULT*2048*tick10ms
// rate equals a full range for one second; if less time is passed rate is accordingly smaller
// if one second passed, rate would be 2048 (full motion)*256(recalculated weight)*100(100 ticks needed for one second)
int32_t currentValue = ((int32_t) v<<DEL_MULT_SHIFT);
if (diff > 0) {
if (s_mixer_first_run_done && md->speedUp > 0) {
// if a speed upwards is defined recalculate the new value according configured speed; the higher the speed the smaller the add value is
int32_t newValue = tact+rate/((int16_t)(100/SLOW_STEP)*md->speedUp);
if (newValue<currentValue) currentValue = newValue; // Endposition; prevent toggling around the destination
}
}
else { // if is <0 because ==0 is not possible
if (s_mixer_first_run_done && md->speedDown > 0) {
// see explanation in speedUp
int32_t newValue = tact-rate/((int16_t)(100/SLOW_STEP)*md->speedDown);
if (newValue>currentValue) currentValue = newValue; // Endposition; prevent toggling around the destination
}
}
act[i] = tact = currentValue;
// open.20.fsguruh: this implementation would save about 50 bytes code
} // endif tick10ms ; in case no time passed assign the old value, not the current value from source
v = (tact >> DEL_MULT_SHIFT);
}
}
//========== CURVES ===============
#if defined(PCBTARANIS)
if (apply_offset_and_curve && md->curve.type != CURVE_REF_DIFF && md->curve.value) {
v = applyCurve(v, md->curve);
}
#else
if (apply_offset_and_curve && md->curveParam && md->curveMode == MODE_CURVE) {
v = applyCurve(v, md->curveParam);
}
#endif
//========== WEIGHT ===============
int32_t dv = (int32_t) v * weight;
//========== OFFSET / AFTER ===============
if (apply_offset_and_curve) {
int16_t offset = GET_GVAR(MD_OFFSET(md), GV_RANGELARGE_NEG, GV_RANGELARGE, mixerCurrentFlightMode);
if (offset) dv += int32_t(calc100toRESX_16Bits(offset)) << 8;
}
//========== DIFFERENTIAL =========
#if defined(PCBTARANIS)
if (md->curve.type == CURVE_REF_DIFF && md->curve.value) {
dv = applyCurve(dv, md->curve);
}
#else
if (md->curveMode == MODE_DIFFERENTIAL) {
// @@@2 also recalculate curveParam to a 256 basis which ease the calculation later a lot
int16_t curveParam = calc100to256(GET_GVAR(md->curveParam, -100, 100, mixerCurrentFlightMode));
if (curveParam > 0 && dv < 0)
dv = (dv * (256 - curveParam)) >> 8;
else if (curveParam < 0 && dv > 0)
dv = (dv * (256 + curveParam)) >> 8;
}
#endif
int32_t *ptr = &chans[md->destCh]; // Save calculating address several times
switch (md->mltpx) {
case MLTPX_REP:
*ptr = dv;
#if defined(BOLD_FONT)
if (mode==e_perout_mode_normal) {
for (uint8_t m=i-1; m<MAX_MIXERS && mixAddress(m)->destCh==md->destCh; m--)
swOn[m].activeMix = false;
}
#endif
break;
case MLTPX_MUL:
// @@@2 we have to remove the weight factor of 256 in case of 100%; now we use the new base of 256
dv >>= 8;
dv *= *ptr;
dv >>= RESX_SHIFT; // same as dv /= RESXl;
*ptr = dv;
break;
default: // MLTPX_ADD
*ptr += dv; //Mixer output add up to the line (dv + (dv>0 ? 100/2 : -100/2))/(100);
break;
} //endswitch md->mltpx
#ifdef PREVENT_ARITHMETIC_OVERFLOW
/*
// a lot of assumptions must be true, for this kind of check; not really worth for only 4 bytes flash savings
// this solution would save again 4 bytes flash
int8_t testVar=(*ptr<<1)>>24;
if ( (testVar!=-1) && (testVar!=0 ) ) {
// this devices by 64 which should give a good balance between still over 100% but lower then 32x100%; should be OK
*ptr >>= 6; // this is quite tricky, reduces the value a lot but should be still over 100% and reduces flash need
} */
PACK( union u_int16int32_t {
struct {
int16_t lo;
int16_t hi;
} words_t;
int32_t dword;
});
u_int16int32_t tmp;
tmp.dword=*ptr;
if (tmp.dword<0) {
if ((tmp.words_t.hi&0xFF80)!=0xFF80) tmp.words_t.hi=0xFF86; // set to min nearly
}
else {
if ((tmp.words_t.hi|0x007F)!=0x007F) tmp.words_t.hi=0x0079; // set to max nearly
}
*ptr = tmp.dword;
// this implementation saves 18bytes flash
/* dv=*ptr>>8;
if (dv>(32767-RESXl)) {
*ptr=(32767-RESXl)<<8;
} else if (dv<(-32767+RESXl)) {
*ptr=(-32767+RESXl)<<8;
}*/
// *ptr=limit( int32_t(int32_t(-1)<<23), *ptr, int32_t(int32_t(1)<<23)); // limit code cost 72 bytes
// *ptr=limit( int32_t((-32767+RESXl)<<8), *ptr, int32_t((32767-RESXl)<<8)); // limit code cost 80 bytes
#endif
} //endfor mixers
tick10ms = 0;
dirtyChannels &= passDirtyChannels;
} while (++pass < 5 && dirtyChannels);
mixWarning = lv_mixWarning;
}
int32_t sum_chans512[NUM_CHNOUT] = {0};
#define MAX_ACT 0xffff
uint8_t lastFlightMode = 255; // TODO reinit everything here when the model changes, no???
#if defined(CPUARM)
tmr10ms_t flightModeTransitionTime;
uint8_t flightModeTransitionLast = 255;
#endif
void evalMixes(uint8_t tick10ms)
{
#if defined(PCBGRUVIN9X) && defined(DEBUG) && !defined(VOICE)
PORTH |= 0x40; // PORTH:6 LOW->HIGH signals start of mixer interrupt
#endif
static uint16_t fp_act[MAX_FLIGHT_MODES] = {0};
static uint16_t delta = 0;
static ACTIVE_PHASES_TYPE flightModesFade = 0;
LS_RECURSIVE_EVALUATION_RESET();
uint8_t fm = getFlightMode();
if (lastFlightMode != fm) {
#if defined(CPUARM)
flightModeTransitionTime = get_tmr10ms();
#endif
if (lastFlightMode == 255) {
fp_act[fm] = MAX_ACT;
}
else {
uint8_t fadeTime = max(g_model.flightModeData[lastFlightMode].fadeOut, g_model.flightModeData[fm].fadeIn);
ACTIVE_PHASES_TYPE transitionMask = ((ACTIVE_PHASES_TYPE)1 << lastFlightMode) + ((ACTIVE_PHASES_TYPE)1 << fm);
if (fadeTime) {
flightModesFade |= transitionMask;
delta = (MAX_ACT / (100/SLOW_STEP)) / fadeTime;
}
else {
flightModesFade &= ~transitionMask;
fp_act[lastFlightMode] = 0;
fp_act[fm] = MAX_ACT;
}
#if defined(CPUARM)
logicalSwitchesCopyState(lastFlightMode, fm); // push last logical switches state from old to new flight mode
#endif
}
lastFlightMode = fm;
}
#if defined(CPUARM)
if (flightModeTransitionTime && get_tmr10ms() > flightModeTransitionTime+SWITCHES_DELAY()) {
flightModeTransitionTime = 0;
if (fm != flightModeTransitionLast) {
if (flightModeTransitionLast != 255) PLAY_PHASE_OFF(flightModeTransitionLast);
PLAY_PHASE_ON(fm);
flightModeTransitionLast = fm;
}
}
#endif
int32_t weight = 0;
if (flightModesFade) {
memclear(sum_chans512, sizeof(sum_chans512));
for (uint8_t p=0; p<MAX_FLIGHT_MODES; p++) {
LS_RECURSIVE_EVALUATION_RESET();
if (flightModesFade & ((ACTIVE_PHASES_TYPE)1 << p)) {
mixerCurrentFlightMode = p;
evalFlightModeMixes(p==fm ? e_perout_mode_normal : e_perout_mode_inactive_flight_mode, p==fm ? tick10ms : 0);
for (uint8_t i=0; i<NUM_CHNOUT; i++)
sum_chans512[i] += (chans[i] >> 4) * fp_act[p];
weight += fp_act[p];
}
LS_RECURSIVE_EVALUATION_RESET();
}
assert(weight);
mixerCurrentFlightMode = fm;
}
else {
mixerCurrentFlightMode = fm;
evalFlightModeMixes(e_perout_mode_normal, tick10ms);
}
//========== FUNCTIONS ===============
// must be done after mixing because some functions use the inputs/channels values
// must be done before limits because of the applyLimit function: it checks for safety switches which would be not initialized otherwise
if (tick10ms) {
#if defined(CPUARM)
requiredSpeakerVolume = g_eeGeneral.speakerVolume + VOLUME_LEVEL_DEF;
#endif
evalFunctions();
}
//========== LIMITS ===============
for (uint8_t i=0; i<NUM_CHNOUT; i++) {
// chans[i] holds data from mixer. chans[i] = v*weight => 1024*256
// later we multiply by the limit (up to 100) and then we need to normalize
// at the end chans[i] = chans[i]/256 => -1024..1024
// interpolate value with min/max so we get smooth motion from center to stop
// this limits based on v original values and min=-1024, max=1024 RESX=1024
int32_t q = (flightModesFade ? (sum_chans512[i] / weight) << 4 : chans[i]);
#if defined(PCBSTD)
ex_chans[i] = q >> 8;
#else
ex_chans[i] = q / 256;
#endif
int16_t value = applyLimits(i, q); // applyLimits will remove the 256 100% basis
cli();
channelOutputs[i] = value; // copy consistent word to int-level
sei();
}
if (tick10ms && flightModesFade) {
uint16_t tick_delta = delta * tick10ms;
for (uint8_t p=0; p<MAX_FLIGHT_MODES; p++) {
ACTIVE_PHASES_TYPE flightModeMask = ((ACTIVE_PHASES_TYPE)1 << p);
if (flightModesFade & flightModeMask) {
if (p == fm) {
if (MAX_ACT - fp_act[p] > tick_delta)
fp_act[p] += tick_delta;
else {
fp_act[p] = MAX_ACT;
flightModesFade -= flightModeMask;
}
}
else {
if (fp_act[p] > tick_delta)
fp_act[p] -= tick_delta;
else {
fp_act[p] = 0;
flightModesFade -= flightModeMask;
}
}
}
}
}
#if defined(PCBGRUVIN9X) && defined(DEBUG) && !defined(VOICE)
PORTH &= ~0x40; // PORTH:6 HIGH->LOW signals end of mixer interrupt
#endif
}
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