X-Git-Url: https://git.defcon.no/?a=blobdiff_plain;f=source%2FRCTXDuino%2FRCTXDuino.pde;h=0bc85626db0fc0992c86333e0fbb1029ae1a0151;hb=12dcaa4691c9b1b2f7c8873b51ff01f34886a5de;hp=d238b753edeece29ec1549d730be5011a6e29f91;hpb=3c5f990b9bde180af15b5755df660aa11f5b7caf;p=rctxduino

diff --git a/source/RCTXDuino/RCTXDuino.pde b/source/RCTXDuino/RCTXDuino.pde
index d238b75..0bc8562 100644
--- a/source/RCTXDuino/RCTXDuino.pde
+++ b/source/RCTXDuino/RCTXDuino.pde
@@ -9,7 +9,7 @@
 // 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 3
+#define EEPROM_VERSION 7
 
 // Some data is stored in fixed locations, e.g.:
 //  * The EEPROM version number for the stored data (loc 0)
@@ -34,6 +34,7 @@
 
 #define MAX_MODELS 4 // Nice and random number..
 
+
 // --------------- ADC related stuffs.... --------------------
 
 struct input_cal_t // Struct type for input calibration values
@@ -82,10 +83,10 @@ volatile bool do_channel = true;        // Is next operation a channel or a sepa
 // 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...
 
-#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 framelength  21500		// Max length of frame
+#define seplength      250		// Lenght of a channel separator
+#define chmax         1600		// Max lenght of channel pulse
+#define chmin          480		// Min length of channel
 #define chwidht  (chmax - chmin)// Useable time of channel pulse
 
 // ----------------- Menu/IU related stuffs --------------------
@@ -171,12 +172,6 @@ void setup(){
   model_defaults();
   read_settings();
 
-  pinMode(A5, OUTPUT);  // PPM output pin  
-  do_channel = false;
-  set_timer( seplength );
-  Timer1.initialize(framelength);
-  Timer1.attachInterrupt(ISR_timer);  
-
   displaystate = VALUES;
   
   // Arduino believes all pins on Port C are Analog.
@@ -196,6 +191,13 @@ void setup(){
   
   // 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);  
+  
 }
 
 void model_defaults( void )
@@ -213,7 +215,7 @@ void model_defaults( void )
   // 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;
@@ -296,7 +298,7 @@ void mplx_select(int pin)
 
 void calibrate()
 {
-  int i, r0, r1, r2, adc_in;
+  int i, adc_in;
   int num_calibrations = 200;
 
   lcd.clear();
@@ -336,7 +338,7 @@ void calibrate()
   lcd.setCursor(0 , 1);
   lcd.print("Done calibrating");
   
-    Serial.print("Done calibrating");
+  Serial.print("Done calibrating");
   delay(2000);  
 }
 
@@ -377,7 +379,7 @@ void read_settings(void)
 	calibrate();
 	model_defaults();
 	// The following does not yet work...
-	for ( i = 0; i < MAX_MODELS; i++);
+	for ( i = 0; i < MAX_MODELS; i++)
 		write_model_settings(i);
 
 	
@@ -385,14 +387,14 @@ void read_settings(void)
 	// 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 );
@@ -407,18 +409,7 @@ void read_model_settings(unsigned char mod_no)
 
   // Calculate the EEPROM start adress for the given model (mod_no)
   model_address = EE_MDL_BASE_ADDR + (mod_no * sizeof(model_t));
-  
-  Serial.print("Models base addr: ");
-  Serial.println( EE_MDL_BASE_ADDR );
-  Serial.print("Model no:         ");
-  Serial.println( mod_no, 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) );
-  
+
   // Do not try to write the model to EEPROM if it won't fit.
   if ( INT_EEPROM_SIZE < (model_address + sizeof(model_t)) )
   {
@@ -437,9 +428,11 @@ void read_model_settings(unsigned char 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(input_cal_t); i++)
+  for (i = 0; i < sizeof(model_t); i++)
 		*p++ = EEPROM.read( model_address++ );
-	
+
+  serial_dump_model();
+
   lcd.setCursor(0 , 1);
   lcd.print("... Loaded.");
   delay(1000);    
@@ -468,33 +461,91 @@ void write_model_settings(unsigned char mod_no)
   
   lcd.clear();
   lcd.print("Saving model ");
-  lcd.print(mod_no);
+  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(input_cal_t); i++)
-	EEPROM.write( model_address++, *p++);
-	
+  for (i = 0; i < sizeof(model_t); i++)
+		EEPROM.write( model_address++, *p++);
+		
   lcd.setCursor(0 , 1);
   lcd.print(".. done saving.");
-  delay(1000);    
+  delay(200);    
 }
 
+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();
+  }  
+}
 
 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];
 
@@ -518,27 +569,35 @@ void process_inputs(void )
 
 	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;
@@ -603,9 +662,11 @@ void ISR_timer(void)
     // 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,
@@ -620,7 +681,7 @@ void ISR_timer(void)
 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);
@@ -642,6 +703,7 @@ void serial_debug()
 
   Serial.println();
 }
+
 void dr_inputselect( int no, int in )
 {
 	if ( model.dr[menu_substate] < 0 ) model.dr[menu_substate] = 4;
@@ -742,7 +804,7 @@ void ui_handler()
   {
     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
@@ -951,6 +1013,10 @@ void ui_handler()
           // 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;