#include <TimerOne.h>
#include <EEPROM.h>
+// Undefine this whenever a "release" or "flight-test" build is made.
+// Defining DEBUG sets some crazy values for things like battery warning,
+// and includes a whole bunch of debugging-related code ...
+#define DEBUG 1
+
#define MAX_INPUTS 8
// Update this _every_ time a change in datastructures that
#define framelength 21000 // Max length of frame
#define seplength 300 // Lenght of a channel separator
-#define chmax 1550 // Max lenght of channel pulse
-#define chmin 620 // Min length of channel
+#define chmax 1600 // Max lenght of channel pulse
+#define chmin 495 // Min length of channel
#define chwidht (chmax - chmin)// Useable time of channel pulse
// ----------------- Menu/IU related stuffs --------------------
// Voltage sense pin is connected to a 1/3'd voltage divider.
#define BATTERY_CONV (10 * 3 * (5.0f/1024.0f))
+
+#ifdef DEBUG
+// The following values are for DEBUGGING ONLY!!
#define BATTERY_LOW 92
+#define BATTERY_CRITICAL 0
+#else
+#define BATTERY_LOW 92
+#define BATTERY_CRITICAL 92
+#endif
enum {
VALUES,
INVERTS,
DUALRATES,
EXPOS, // Some radios have "drawn curves", i.e. loopup tables stored in external EEPROM ...
- DEBUG,
+ DEBUG_DUMP,
SAVE
}
menu_mainstate;
boolean running;
} clock_timer;
+#ifdef DEBUG
// ----------------- DEBUG-STUFF --------------------
unsigned long prev_loop_time;
unsigned long avg_loop_time;
unsigned long t;
-
+#endif
// ---------- CODE! -----------------------------------
if ( !keys[KEY_UP])
calibrate();
+#ifdef DEBUG
// Debugging: how long does the main loop take on avg...
t = micros();
avg_loop_time = t;
prev_loop_time = t;
-
+#endif
// Initializing the stopwatch timer/clock values...
clock_timer = (clock_timer_t){0, 0, 0, false};
// data format changes.
// NOTE: This means that stored model conficuration is reset
// to defaults when the EEPROM version/format changes.
- model.channels = 6;
+ model.channels = 8;
model.rev[0] = model.rev[1] = model.rev[2] = model.rev[3] =
model.rev[4] = model.rev[5] = model.rev[6] = model.rev[7] = false;
model.dr[0] = model.dr[1] = model.dr[2] = model.dr[3] = 0;
}
// ---------- Arduino main loop -----------------------
-void loop () {
-
- // Determine if the UI needs to run...
- boolean disp;
- if ( millis() - last > UI_INTERVAL ) {
- last = millis();
- disp = true;
- }
- else disp = false;
+void loop ()
+{
process_inputs();
battery_val = analogRead(1) * BATTERY_CONV;
if ( battery_val < BATTERY_LOW ) {
digitalWrite(13, 1); // Simulate alarm :P
+ }
+ if ( battery_val < BATTERY_CRITICAL ) {
displaystate = BATTERY;
}
- if ( disp )
- {
+ if ( millis() - last > UI_INTERVAL )
+ {
+ last = millis();
ui_handler();
}
+
+#ifdef DEBUG
if ( displaystate != MENU )
{
// Debugging: how long does the main loop take on avg,
avg_loop_time = ( t - prev_loop_time + avg_loop_time ) / 2;
prev_loop_time = t;
}
+#endif
// Whoa! Slow down partner! Let everything settle down before proceeding.
delay(5);
void calibrate()
{
- int i, r0, r1, r2, adc_in;
+ int i, adc_in;
int num_calibrations = 200;
lcd.clear();
for (i = 0; i < sizeof(model_t); i++)
*p++ = EEPROM.read( model_address++ );
+#ifdef DEBUG
serial_dump_model();
+#endif
lcd.setCursor(0 , 1);
lcd.print("... Loaded.");
delay(200);
}
+#ifdef DEBUG
void serial_dump_model ( void )
{
int i;
Serial.println();
}
}
+#endif
void scan_keys ( void )
{
- int i, r0, r1, r2;
boolean key_in;
// To get more inputs, another 4051 analog multiplexer is used,
// but this time it is used for digital inputs. 8 digital inputs
// on one input line, as long as proper debouncing and filtering
// is done in hardware :P
- for (i=0; i<=7; i++) {
+ for (int i=0; i<=7; i++) {
// To be able to detect that a key has changed state, preserve the previous..
prev_keys[i] = keys[i];
model.raw[current_input] = adc_in;
// New format on stick values
+ // The calculations happen around the center point, the values
+ // need to arrive at 0...100 of the range "center-to-edge",
+ // and must end up as negative on the ... negative side of center.
+
if ( adc_in < input_cal.center[current_input] )
{
+ // The stick is on the negative side, so the range is
+ // from the lowest possible value to center, and we must
+ // make this a negative percentage value.
max = input_cal.min[current_input];
min = input_cal.center[current_input];
fact = -100;
}
else
{
+ // The stick is at center, or on the positive side.
+ // Thus, the range is from center to max, and
+ // we need positive percentages.
min = input_cal.center[current_input];
max = input_cal.max[current_input];
fact = 100;
}
+ // Calculate the percentage that the current stick position is at
+ // in the given range, referenced to or from center, depending :P
model.stick[current_input] = fact * ((float)adc_in - min ) / (max - min);
+
+ // If this input is configured to be reversed, simply do a sign-flip :D
if ( model.rev[current_input] ) model.stick[current_input] *= -1;
- // Old format on stick values...
- /*
- model.stick[current_input] = ((float)adc_in - (float)input_cal.min[current_input]) / (float)(input_cal.max[current_input]-input_cal.min[current_input]);
- if ( model.rev[current_input] ) model.stick[current_input] = 1.0f - model.stick[current_input];
- */
-
// Dual-rate calculation :D
// This is very repetitive code. It should be fast, but it may waste code-space.
float dr_val;
// range in half, and finally dividing by 100, we should get the ratio value.
// Some loss of presicion occurs, perhaps the algo' should be reconsidered :P
long next_timer = (( chwidht * ((model.stick[cchannel]+100)/200) ) + chmin);
- // Do sanity-check of next_timer compared to chmax ...
+ // Do sanity-check of next_timer compared to chmax and chmin...
while ( chmax < next_timer ) next_timer--;
while ( next_timer < chmin ) next_timer++;
+
+ // Update the sum of elapsed time
sum += next_timer;
// Done with channel separator and value,
}
}
+#ifdef DEBUG
void serial_debug()
{
int current_input;
- for (current_input=0; current_input<=7; current_input++) {
+ for (current_input=0; current_input<MAX_INPUTS; current_input++) {
Serial.print("Input #");
Serial.print(current_input);
Serial.println();
}
+#endif
+
void dr_inputselect( int no, int in )
{
if ( model.dr[menu_substate] < 0 ) model.dr[menu_substate] = 4;
{
case VALUES:
int current_input;
- for (current_input=0; current_input<=7; current_input++) {
+ for (current_input=0; current_input<MAX_INPUTS; current_input++) {
// In channel value display, do a simple calc
// of the LCD row & column location. With 8 channels
// we can fit eight channels as percentage values on
// Run in wolfram to see result, adjust the 1.0 factor to inc/red effect.
// Problem: -100 to 100 is terribly bad presicion, esp. considering that
// the values started as 0...1024, and we have 1000usec to "spend" on channels.
+
+ // NEW IDEA provided my ivarf @ hig: use bezier curves og hermite curves!
+ // Looks like a promising idea, but the implementation is still a bitt off
+ // on the time-horizon :P
if ( check_key(KEY_UP ) ) {
menu_mainstate = DUALRATES;
return;
}
+#ifdef DEBUG
+ if ( check_key(KEY_DOWN ) ) {
+ menu_mainstate = DEBUG_DUMP;
+ return;
+ }
+#else
if ( check_key(KEY_DOWN ) ) {
- menu_mainstate = DEBUG;
+ menu_mainstate = TOP;
return;
}
+
+#endif
break;
-
- case DEBUG:
+
+#ifdef DEBUG
+ case DEBUG_DUMP:
lcd.setCursor(0 , 0);
lcd.print("Dumping debug to");
lcd.setCursor(0 , 1);
return;
}
break;
-
+#endif
default:
lcd.print("Not implemented");
lcd.setCursor(0 , 1);
git.defcon.no / rctxduino / blobdiff