#include <LiquidCrystal.h>
#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
+// can/will ber written to EEPROM is done. EEPROM data is
+// read/written torectly into/from the data structures using
+// pointers, so every time a data-set change occurs, the EEPROM
+// format changes as well..
+#define EEPROM_VERSION 7
+
+// Some data is stored in fixed locations, e.g.:
+// * The EEPROM version number for the stored data (loc 0)
+// * The selected model configuration number (loc 1)
+// * (add any other fixed-loc's here for doc-purpose)
+// This means that any pointer-math-operations need a BASE
+// adress to start calc'ing from. This is defined as:
+#define EE_BASE_ADDR 10
+
+// Having to repeat tedious base-address-calculations for the
+// start of model data should be unnessecary. Plus, updating
+// what data is stored before the models will mean that each
+// of those calculations must be updated. A better approach is
+// to define the calculation in a define!
+// NOTE: If new data is added in front of the model data,
+// this define must be updated!
+#define EE_MDL_BASE_ADDR (EE_BASE_ADDR+(sizeof(input_cal_t)+ 10))
+
+// Just as a safety-precaution, update/change this if a chip with
+// a different internal EEPROM size is used. Atmega328p has 1024 bytes.
+#define INT_EEPROM_SIZE 1024
+
+#define MAX_MODELS 4 // Nice and random number..
+
// --------------- ADC related stuffs.... --------------------
-int maxval[8]; // Stores maximum values read during calibration, setup() sets 1024
-int minval[8]; // Stores minimum values read during calibration, setup() sets 0
-int rev[8];
-int dr[8]; // The Dual-rate array uses magic numbers :P
-/* dr[0] = Input channel #1 of 2 for D/R switch #1. 0 means off, 1-4 valid values.
- dr[1] = Input channel #2 of 2 for D/R switch #1. 0 means off, 1-4 valid values.
- dr[2] = Input channel #1 of 2 for D/R switch #2. 0 means off, 1-4 valid values.
- dr[3] = Input channel #2 of 2 for D/R switch #2. 0 means off, 1-4 valid values.
- dr[4] = D/R value for switch # 1 LOW(off). Value -100 to 100 in steps of 5.
- dr[5] = D/R value for switch # 1 HIGH(on). Value -100 to 100 in steps of 5.
- dr[6] = D/R value for switch # 1 LOW(off). Value -100 to 100 in steps of 5.
- dr[7] = D/R value for switch # 1 HIGH(on). Value -100 to 100 in steps of 5.
-*/
-
-volatile float channel[8];
+struct input_cal_t // Struct type for input calibration values
+{
+ int min[MAX_INPUTS];
+ int max[MAX_INPUTS];
+ int center[MAX_INPUTS];
+} ;
+input_cal_t input_cal;
+
+struct model_t
+{
+ int channels; // How many channels should PPM generate for this model ...
+ float stick[8]; // The (potentially recalc'ed) value of stick/input channel.
+ int raw[8];
+ boolean rev[8];
+ int dr[8]; // The Dual-rate array uses magic numbers :P
+ /* dr[0] = Input channel #1 of 2 for D/R switch #1. 0 means off, 1-4 valid values.
+ dr[1] = Input channel #2 of 2 for D/R switch #1. 0 means off, 1-4 valid values.
+ dr[2] = Input channel #1 of 2 for D/R switch #2. 0 means off, 1-4 valid values.
+ dr[3] = Input channel #2 of 2 for D/R switch #2. 0 means off, 1-4 valid values.
+ dr[4] = D/R value for switch # 1 LOW(off). Value -100 to 100 in steps of 5.
+ dr[5] = D/R value for switch # 1 HIGH(on). Value -100 to 100 in steps of 5.
+ dr[6] = D/R value for switch # 1 LOW(off). Value -100 to 100 in steps of 5.
+ dr[7] = D/R value for switch # 1 HIGH(on). Value -100 to 100 in steps of 5.
+ */
+};
+volatile model_t model;
+unsigned char current_model; // Using uchar to spend a single byte of mem..
// ----------------- Display related stuffs --------------------
LiquidCrystal lcd( 12, 11, 10, 6, 7, 8, 9);
// ----------------- PPM related stuffs ------------------------
// The PPM generation is handled by Timer0 interrupts, and needs
// all modifiable variables to be global and volatile...
-int max_channels = 6; // How many channels should PPM generate ...
+
volatile long sum = 0; // Frame-time spent so far
volatile int cchannel = 0; // Current channnel
volatile bool do_channel = true; // Is next operation a channel or a separator
+
// All time values in usecs
// TODO:
// The timing here (and/or in the ISR) needs to be tweaked to provide valid
// RC PPM signals accepted by standard RC RX'es and the Microcopter...
-long framelength = 21500; // Max length of frame
-long seplength = 400; // Lenght of a channel separator
-long chmax = 1700; // Max lenght of channel pulse
-long chmin = 600; // Min length of channel
-long chwidht = (chmax - chmin); // Useable time of channel pulse (1000)
+
+#define framelength 21000 // Max length of frame
+#define seplength 300 // Lenght of a channel separator
+#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,
BATTERY,
TIMER,
+ CURMODEL,
MENU
}
displaystate;
INVERTS,
DUALRATES,
EXPOS, // Some radios have "drawn curves", i.e. loopup tables stored in external EEPROM ...
- DEBUG,
+ DEBUG_DUMP,
SAVE
}
menu_mainstate;
#define UI_INTERVAL 250
unsigned long last = 0;
-unsigned long timer_start = 0;
-unsigned long timer_init = 0;
-unsigned long timer_value = 0;
-boolean timer_running = false;
+struct clock_timer_t
+{
+ unsigned long start;
+ unsigned long init;
+ unsigned long value;
+ boolean running;
+} clock_timer;
+#ifdef DEBUG
// ----------------- DEBUG-STUFF --------------------
unsigned long prev_loop_time;
unsigned long avg_loop_time;
unsigned long t;
-
+#endif
// ---------- CODE! -----------------------------------
Serial.begin(9600);
Serial.println("Starting....");
delay(500);
+
+ model_defaults();
read_settings();
- scan_keys();
- if ( keys[KEY_UP])
- calibrate();
-
- pinMode(A5, OUTPUT); // PPM output pin
- do_channel = false;
- set_timer( seplength );
- Timer1.initialize(framelength);
- Timer1.attachInterrupt(ISR_timer);
displaystate = VALUES;
// In reality they are tri-purpose; ADC, Digital, Digital Interrupts
// Unfortunately the interrupt mode is unusable in this scenario, but digital I/O works :P
pinMode(A2, INPUT);
+ digitalWrite(A2, HIGH);
+ scan_keys();
+ 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
- dr[0] = dr[1] = dr[2] = dr[3] = 0;
- dr[4] = dr[5] = dr[6] = dr[7] = 100;
+ // Initializing the stopwatch timer/clock values...
+ clock_timer = (clock_timer_t){0, 0, 0, false};
+ pinMode(A5, OUTPUT); // PPM output pin
+ do_channel = false;
+ set_timer( seplength );
+ Timer1.initialize(framelength);
+ Timer1.attachInterrupt(ISR_timer);
+
}
-// ---------- Arduino main loop -----------------------
-void loop () {
+void model_defaults( void )
+{
+ // This function provides default values for model data
+ // that is not a result of stick input, or in other words:
+ // provides defautls for all user-configurable model options.
- // Determine if the UI needs to run...
- boolean disp;
- if ( millis() - last > UI_INTERVAL ) {
- last = millis();
- disp = true;
- }
- else disp = false;
+ // Remember to update this when a new option/element is added
+ // to the model_t struct (preferably before implementing the
+ // menu code that sets those options ...)
+
+ // This is used when a user wants a new, blank model, a reset
+ // of a configured model, and (most important) when EEPROM
+ // data format changes.
+ // NOTE: This means that stored model conficuration is reset
+ // to defaults when the EEPROM version/format changes.
+ 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;
+ model.dr[4] = model.dr[5] = model.dr[6] = model.dr[7] = 100;
+
+}
+
+// ---------- Arduino main loop -----------------------
+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);
boolean check_key( int key)
{
- return ( keys[key] && !prev_keys[key] );
+ return ( !keys[key] && prev_keys[key] );
}
void mplx_select(int pin)
void calibrate()
{
- int i, r0, r1, r2, adc_in;
- int calcount = 0;
+ int i, adc_in;
int num_calibrations = 200;
lcd.clear();
lcd.print("their extremes..");
Serial.print("Calibration. Move all controls to their extremes.");
- for (i=0; i<=7; i++) {
- minval[i] = 1024;
- maxval[i] = 0;
+ for (i=0; i<MAX_INPUTS; i++) {
+ input_cal.min[i] = 1024;
+ input_cal.center[i] = 512;
+ input_cal.max[i] = 0;
}
- while ( calcount <= num_calibrations )
+
+ while ( num_calibrations-- )
{
- for (i=0; i<=7; i++) {
+ for (i=0; i<MAX_INPUTS; i++) {
mplx_select(i);
adc_in = analogRead(0);
// Naive min/max calibration
- if ( adc_in < minval[i] ) {
- minval[i] = adc_in;
+ if ( adc_in < input_cal.min[i] ) {
+ input_cal.min[i] = adc_in;
}
- if ( adc_in > maxval[i] ) {
- maxval[i] = adc_in;
+ if ( adc_in > input_cal.max[i] ) {
+ input_cal.max[i] = adc_in;
}
delay(10);
}
-
- calcount++;
}
// TODO: WILL need to do center-point calibration after min-max...
lcd.clear();
+ lcd.print("Saving to EEPROM");
+ write_calibration();
+ lcd.setCursor(0 , 1);
lcd.print("Done calibrating");
-
+
Serial.print("Done calibrating");
delay(2000);
}
+void write_calibration(void)
+{
+ int i;
+ unsigned char v;
+ const byte *p;
+
+ // Set p to be a pointer to the start of the input calibration struct.
+ p = (const byte*)(const void*)&input_cal;
+
+ // Iterate through the bytes of the struct...
+ for (i = 0; i < sizeof(input_cal_t); i++)
+ {
+ // Get a byte of data from the struct...
+ v = (unsigned char) *p;
+ // write it to EEPROM
+ EEPROM.write( EE_BASE_ADDR + i, v);
+ // and move the pointer to the next byte in the struct.
+ *p++;
+ }
+}
+
void read_settings(void)
{
- // Dummy. Will be modified to read model settings from EEPROM
- for (int i=0; i<=7; i++) {
- minval[i] = 0;
- maxval[i] = 1024;
+ int i;
+ unsigned char v;
+ byte *p;
+
+ v = EEPROM.read(0);
+ if ( v != EEPROM_VERSION )
+ {
+ // All models have been reset. Set the current model to 0
+ current_model = 0;
+ EEPROM.write(1, current_model);
+
+ calibrate();
+ model_defaults();
+ // The following does not yet work...
+ for ( i = 0; i < MAX_MODELS; i++)
+ write_model_settings(i);
+
+
+ // After saving calibration data and model defaults,
+ // update the saved version-identifier to the current ver.
+ EEPROM.write(0, EEPROM_VERSION);
+ }
+
+ // Read calibration values from EEPROM.
+ // This uses simple pointer-arithmetic and byte-by-byte
+ // to put bytes read from EEPROM to the data-struct.
+ p = (byte*)(void*)&input_cal;
+ for (i = 0; i < sizeof(input_cal_t); i++)
+ *p++ = EEPROM.read( EE_BASE_ADDR + i);
+
+ // Get the previously selected model from EEPROM.
+ current_model = EEPROM.read(1);
+ read_model_settings( current_model );
+}
+
+void read_model_settings(unsigned char mod_no)
+{
+ int model_address;
+ int i;
+ unsigned char v;
+ byte *p;
+
+ // Calculate the EEPROM start adress for the given model (mod_no)
+ model_address = EE_MDL_BASE_ADDR + (mod_no * sizeof(model_t));
+
+ // Do not try to write the model to EEPROM if it won't fit.
+ if ( INT_EEPROM_SIZE < (model_address + sizeof(model_t)) )
+ {
+ lcd.clear();
+ lcd.print("Aborting READ");
+ lcd.setCursor(0 , 1);
+ lcd.print("Invalid location");
+ delay(2000);
+ return;
}
+
+ lcd.clear();
+ lcd.print("Reading model ");
+ lcd.print( (int)mod_no );
+
+ // Pointer to the start of the model_t data struct,
+ // used for byte-by-byte reading of data...
+ p = (byte*)(void*)&model;
+ 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(1000);
}
-void write_settings(void)
+void write_model_settings(unsigned char mod_no)
{
- // Dummy. Not used anywhere. Will be fleshed out to save settings to EEPROM.
+ int model_address;
+ int i;
+ unsigned char v;
+ byte *p;
+
+ // Calculate the EEPROM start adress for the given model (mod_no)
+ model_address = EE_MDL_BASE_ADDR + (mod_no * sizeof(model_t));
+
+ // Do not try to write the model to EEPROM if it won't fit.
+ if ( INT_EEPROM_SIZE < (model_address + sizeof(model_t)) )
+ {
+ lcd.clear();
+ lcd.print("Aborting SAVE");
+ lcd.setCursor(0 , 1);
+ lcd.print("No room for data");
+ delay(2000);
+ return;
+ }
+
+ lcd.clear();
+ lcd.print("Saving model ");
+ lcd.print( (int)mod_no);
+
+ // Pointer to the start of the model_t data struct,
+ // used for byte-by-byte reading of data...
+ p = (byte*)(void*)&model;
+
+ // Write/serialize the model data struct to EEPROM...
+ for (i = 0; i < sizeof(model_t); i++)
+ EEPROM.write( model_address++, *p++);
+
+ lcd.setCursor(0 , 1);
+ lcd.print(".. done saving.");
+ delay(200);
+}
+
+#ifdef DEBUG
+void serial_dump_model ( void )
+{
+ int i;
+ int model_address;
+ // Calculate the EEPROM start adress for the given model (mod_no)
+ model_address = EE_MDL_BASE_ADDR + (current_model * sizeof(model_t));
+ Serial.print("Current model: ");
+ Serial.println( (int)current_model );
+ Serial.print("Models base addr: ");
+ Serial.println( EE_MDL_BASE_ADDR );
+ Serial.print("Model no: ");
+ Serial.println( current_model, 10 );
+ Serial.print("Size of struct: ");
+ Serial.println( sizeof( model_t) );
+ Serial.print("Model address: ");
+ Serial.println( model_address );
+ Serial.print("End of model: ");
+ Serial.println( model_address + sizeof(model_t) );
+
+ Serial.println();
+
+ Serial.print("Channel reversions: ");
+ for ( i = 0; i<8; i++)
+ {
+ Serial.print(i);
+ Serial.print("=");
+ Serial.print(model.rev[i], 10);
+ Serial.print(" ");
+ }
+ Serial.println();
+
+ Serial.print("DR1 inp 0: ");
+ Serial.println(model.dr[0]);
+ Serial.print("DR1 inp 1: ");
+ Serial.println(model.dr[1]);
+ Serial.print("DR1 LO val: ");
+ Serial.println(model.dr[4]);
+ Serial.print("DR1 HI val: ");
+ Serial.println(model.dr[5]);
+ Serial.print("DR2 inp 0: ");
+ Serial.println(model.dr[2]);
+ Serial.print("DR2 inp 1: ");
+ Serial.println(model.dr[3]);
+ Serial.print("DR2 LO val: ");
+ Serial.println(model.dr[6]);
+ Serial.print("DR2 HI val: ");
+ Serial.println(model.dr[7]);
+
+ for (i=0; i<MAX_INPUTS; i++) {
+ Serial.print("Input #");
+ Serial.print(i);
+ Serial.print(" pct: ");
+ Serial.print(model.stick[i]);
+ Serial.print(" min: ");
+ Serial.print(input_cal.min[i]);
+ Serial.print(" max: ");
+ Serial.print(input_cal.max[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];
void process_inputs(void )
{
- int current_input, r0, r1, r2, adc_in;
- for (current_input=0; current_input<=7; current_input++) {
+ int current_input, adc_in, fact;
+ float min, max;
+
+ for (current_input=0; current_input<MAX_INPUTS; current_input++) {
mplx_select(current_input);
adc_in = analogRead(0);
- channel[current_input] = ((float)adc_in - (float)minval[current_input]) / (float)(maxval[current_input]-minval[current_input]);
- if ( rev[current_input] ) channel[current_input] = 1.0f - channel[current_input];
+ 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;
+
+ // Dual-rate calculation :D
+ // This is very repetitive code. It should be fast, but it may waste code-space.
+ float dr_val;
+ // Test to see if dualrate-switch #1 applies to channel...
+ if ( ( current_input == ( model.dr[0]-1) ) || ( current_input == ( model.dr[1]-1) ) )
+ {
+ if ( !keys[KEY_DR1] )
+ dr_val = ((float)model.dr[4])/100.0;
+ else
+ dr_val = ((float)model.dr[5])/100.0;
+
+ model.stick[current_input] *= dr_val;
+ }
+ else
+ // Test to see if dualrate-switch #1 applies to channel...
+ if ( ( current_input == ( model.dr[2]-1) ) || ( current_input == ( model.dr[3]-1) ) )
+ {
+ if ( !keys[KEY_DR1] )
+ dr_val = ((float)model.dr[6])/100.0;
+ else
+ dr_val = ((float)model.dr[7])/100.0;
+
+ model.stick[current_input] *= dr_val;
+ }
}
}
return;
}
- if ( cchannel >= max_channels )
+ if ( cchannel >= model.channels )
{
set_ppm_output( HIGH );
long framesep = framelength - sum;
if ( do_channel )
{
set_ppm_output( HIGH );
- long next_timer = (( chwidht * channel[cchannel] ) + chmin);
- // Do sanity-check of next_timer compared to chmax ...
+
+ // New format on stick values
+ // model.stick contains percentages, -100% to 100% in float. To make the timer-handling
+ // here as simple as possible. We want to calc the channel value as a "ratio-value",
+ // a float in the range 0..1.0. So, by moving the lower bound to 0, then cutting the
+ // 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 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++) {
- int v = (int)(channel[current_input] * 100);
+ for (current_input=0; current_input<MAX_INPUTS; current_input++) {
Serial.print("Input #");
Serial.print(current_input);
- Serial.print(" value: ");
- Serial.print(channel[current_input]);
Serial.print(" pct: ");
- Serial.print(v);
+ Serial.print(model.stick[current_input]);
+ Serial.print(" raw value: ");
+ Serial.print(model.raw[current_input]);
Serial.print(" min: ");
- Serial.print(minval[current_input]);
+ Serial.print(input_cal.min[current_input]);
Serial.print(" max: ");
- Serial.print(maxval[current_input]);
+ Serial.print(input_cal.max[current_input]);
Serial.println();
}
Serial.print("Battery level is: ");
Serial.println();
}
+#endif
+
void dr_inputselect( int no, int in )
{
- if ( dr[menu_substate] < 0 ) dr[menu_substate] = 4;
- if ( dr[menu_substate] > 4 ) dr[menu_substate] = 0;
+ if ( model.dr[menu_substate] < 0 ) model.dr[menu_substate] = 4;
+ if ( model.dr[menu_substate] > 4 ) model.dr[menu_substate] = 0;
lcd.setCursor(0 , 0);
lcd.print("D/R switch ");
lcd.print(in+1);
lcd.print(": ");
- if ( ! dr[menu_substate] ) lcd.print("Off");
- else lcd.print(dr[menu_substate]);
+ if ( ! model.dr[menu_substate] ) lcd.print("Off");
+ else lcd.print(model.dr[menu_substate]);
if ( check_key(KEY_INC) ) {
- dr[menu_substate]++;
+ model.dr[menu_substate]++;
return;
}
else if ( check_key(KEY_DEC) ) {
- dr[menu_substate]--;
+ model.dr[menu_substate]--;
return;
}
// Wrap around.
lcd.print( state ? "HI" : "LO" );
lcd.print(" Value :");
- lcd.print( dr[pos] );
+ lcd.print( model.dr[pos] );
- if ( keys[KEY_INC] ) {
- if ( dr[pos] < 100) dr[pos] += 5;
+ if ( !keys[KEY_INC] ) {
+ if ( model.dr[pos] < 100) model.dr[pos] += 5;
return;
}
- else if ( keys[KEY_DEC] ) {
- if ( dr[pos] > -100) dr[pos] -= 5;
+ else if ( !keys[KEY_DEC] ) {
+ if ( model.dr[pos] > -100) model.dr[pos] -= 5;
return;
}
return;
}
else if ( check_key(KEY_UP) && displaystate == TIMER ) {
+ displaystate = CURMODEL;
+ return;
+ }
+ else if ( check_key(KEY_UP) && displaystate == CURMODEL ) {
displaystate = VALUES;
return;
}
{
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
lcd.print(" ");
lcd.setCursor(col, row);
// Display uses percents, while PPM uses ratio....
- int v = (int)(channel[current_input] * 100);
- lcd.print(v);
+ // New format on stick values
+ lcd.print( (int)model.stick[current_input] );
}
break;
lcd.clear();
lcd.print("Timer: ");
- lcd.print( timer_running ? "Running" : "Stopped" );
+ lcd.print( clock_timer.running ? "Running" : "Stopped" );
lcd.setCursor(5 , 1);
- if ( timer_running )
+ if ( clock_timer.running )
{
- timer_value = millis() - (timer_start + timer_init);
+ clock_timer.value = millis() - (clock_timer.start + clock_timer.init);
}
- hours = ( timer_value / 1000 ) / 3600;
- timer_value = timer_value % 3600000;
- minutes = ( timer_value / 1000 ) / 60;
- seconds = ( timer_value / 1000 ) % 60;
+ hours = ( clock_timer.value / 1000 ) / 3600;
+ clock_timer.value = clock_timer.value % 3600000;
+ minutes = ( clock_timer.value / 1000 ) / 60;
+ seconds = ( clock_timer.value / 1000 ) % 60;
if ( hours ) {
lcd.print(hours);
lcd.print(":");
lcd.print( seconds );
if ( check_key(KEY_INC) ) {
- if ( !timer_running && !timer_start )
+ if ( !clock_timer.running && !clock_timer.start )
{
- timer_start = millis();
- timer_value = 0;
- timer_running = true;
- } else if ( !timer_running && timer_start ) {
- timer_start = millis() - timer_value;
- timer_running = true;
- } else if ( timer_running ) {
- timer_running = false;
+ clock_timer.start = millis();
+ clock_timer.value = 0;
+ clock_timer.running = true;
+ } else if ( !clock_timer.running && clock_timer.start ) {
+ clock_timer.start = millis() - clock_timer.value;
+ clock_timer.running = true;
+ } else if ( clock_timer.running ) {
+ clock_timer.running = false;
}
return;
} else if ( check_key(KEY_DEC) ) {
- if ( !timer_running && timer_start ) {
- timer_value = 0;
- timer_start = 0;
- timer_init = 0;
+ if ( !clock_timer.running && clock_timer.start ) {
+ clock_timer.value = 0;
+ clock_timer.start = 0;
+ clock_timer.init = 0;
}
return;
}
break;
+
+
+ case CURMODEL:
+ lcd.clear();
+ lcd.print("Model #: ");
+ lcd.print( (int)current_model );
+ lcd.setCursor(0 , 1);
+ lcd.print("NAME (not impl)");
+ break;
+
+
+
case MENU:
lcd.clear();
switch ( menu_mainstate )
case INVERTS:
- if ( menu_substate >= max_channels ) menu_substate = 0;
- if ( menu_substate < 0) menu_substate = (max_channels - 1);
+ if ( menu_substate >= model.channels ) menu_substate = 0;
+ if ( menu_substate < 0) menu_substate = (model.channels - 1);
lcd.print("Channel invert");
lcd.setCursor(0 , 1);
lcd.print("Ch ");
lcd.print(menu_substate+1);
- lcd.print( (rev[menu_substate] ? ": Invert" : ": Normal"));
+ lcd.print( (model.rev[menu_substate] ? ": Invert" : ": Normal"));
if ( check_key(KEY_UP) ) {
menu_mainstate = TOP;
return;
}
else if ( check_key(KEY_INC) || check_key(KEY_DEC) ) {
- rev[menu_substate] ^= 1;
+ model.rev[menu_substate] ^= 1;
return;
}
break;
// 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;
+ menu_mainstate = DEBUG_DUMP;
return;
}
+#else
+ if ( check_key(KEY_DOWN ) ) {
+ 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);
-\r
+
git.defcon.no / rctxduino / blobdiff