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Seperate adjustment configuration from adjustment state. Rename 'step' 

parameter to 'delta' applying the adjustment.  Configure adjustment
states based on adjustment configuration for AUX3 and AUX4.
This commit is contained in:
Dominic Clifton 2014-10-24 15:46:07 +01:00
parent 45d9678a39
commit a2a9443045
3 changed files with 59 additions and 23 deletions
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66
src/main/io/rc_controls.c
View File

@ -257,29 +257,46 @@ uint8_t adjustmentStateMask = 0;
#define IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentIndex) (adjustmentStateMask & (1 << adjustmentIndex))
typedef struct adjustmentConfig_s {
uint8_t auxChannelIndex;
uint8_t adjustmentFunction;
uint8_t step;
uint32_t timeoutAt;
} adjustmentConfig_t;
static adjustmentConfig_t adjustmentConfigs[1] = {
static const adjustmentConfig_t defaultAdjustmentConfigs[] = {
{
.auxChannelIndex = AUX3 - NON_AUX_CHANNEL_COUNT,
.adjustmentFunction = ADJUSTMENT_RC_RATE,
.step = 1,
.timeoutAt = 0
.step = 1
},
{
.adjustmentFunction = ADJUSTMENT_NONE,
.step = 0
}
};
void applyAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int step) {
typedef struct adjustmentState_s {
uint8_t auxChannelIndex;
uint8_t adjustmentFunction;
uint8_t step;
uint32_t timeoutAt;
} adjustmentState_t;
#define MAX_SIMULTANEOUS_ADJUSTMENTS 2
static adjustmentState_t adjustmentStates[MAX_SIMULTANEOUS_ADJUSTMENTS];
void configureAdjustment(uint8_t index, uint8_t auxChannelIndex, const adjustmentConfig_t *adjustmentConfig) {
adjustmentState_t *adjustmentState = &adjustmentStates[index];
adjustmentState->auxChannelIndex = auxChannelIndex;
adjustmentState->adjustmentFunction = adjustmentConfig->adjustmentFunction;
adjustmentState->step = adjustmentConfig->step;
adjustmentState->timeoutAt = 0;
MARK_ADJUSTMENT_FUNCTION_AS_READY(index);
}
void applyAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta) {
int newValue;
switch(adjustmentFunction) {
case ADJUSTMENT_RC_RATE:
newValue = (int)controlRateConfig->rcRate8 + step;
newValue = (int)controlRateConfig->rcRate8 + delta;
controlRateConfig->rcRate8 = constrain(newValue, 0, 250); // FIXME magic numbers repeated in serial_cli.c
generatePitchRollCurve(controlRateConfig);
break;
@ -296,33 +313,33 @@ void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rx
uint32_t now = millis();
for (adjustmentIndex = 0; adjustmentIndex < ADJUSTMENT_COUNT; adjustmentIndex++) {
adjustmentConfig_t *adjustmentConfig = &adjustmentConfigs[adjustmentIndex];
adjustmentState_t *adjustmentState = &adjustmentStates[adjustmentIndex];
uint8_t adjustmentFunction = adjustmentConfig->adjustmentFunction;
uint8_t adjustmentFunction = adjustmentState->adjustmentFunction;
if (adjustmentFunction == ADJUSTMENT_NONE) {
continue;
}
int32_t signedDiff = now - adjustmentConfig->timeoutAt;
int32_t signedDiff = now - adjustmentState->timeoutAt;
bool canResetReadyStates = signedDiff >= 0L;
if (canResetReadyStates) {
adjustmentConfig->timeoutAt = now + RESET_FREQUENCY_2HZ;
adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
}
uint8_t channelIndex = NON_AUX_CHANNEL_COUNT + adjustmentConfig->auxChannelIndex;
uint8_t channelIndex = NON_AUX_CHANNEL_COUNT + adjustmentState->auxChannelIndex;
int step;
int delta;
if (rcData[channelIndex] > rxConfig->midrc + 200) {
step = adjustmentConfig->step;
delta = adjustmentState->step;
} else if (rcData[channelIndex] < rxConfig->midrc - 200) {
step = 0 - adjustmentConfig->step;
delta = 0 - adjustmentState->step;
} else {
// returning the switch to the middle immediately resets the ready state
MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
adjustmentConfig->timeoutAt = now + RESET_FREQUENCY_2HZ;
adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
continue;
}
@ -331,7 +348,7 @@ void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rx
}
MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex);
applyAdjustment(controlRateConfig, adjustmentFunction, step);
applyAdjustment(controlRateConfig, adjustmentFunction, delta);
}
}
@ -346,4 +363,7 @@ void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions)
break;
}
}
configureAdjustment(0, AUX3 - NON_AUX_CHANNEL_COUNT, &defaultAdjustmentConfigs[0]);
configureAdjustment(1, AUX4 - NON_AUX_CHANNEL_COUNT, &defaultAdjustmentConfigs[1]);
}

7
src/main/io/rc_controls.h
View File

@ -135,10 +135,17 @@ typedef enum {
ADJUSTMENT_RC_RATE
} adjustmentFunction_e;
typedef struct adjustmentConfig_s {
uint8_t adjustmentFunction;
uint8_t step;
} adjustmentConfig_t;
#define ADJUSTMENT_COUNT 1
#define ADJUSTMENT_INDEX_OFFSET 1
void configureAdjustment(uint8_t index, uint8_t auxChannelIndex, const adjustmentConfig_t *adjustmentConfig);
void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rxConfig);
void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions);

9
src/test/unit/rc_controls_unittest.cc
View File

@ -187,6 +187,10 @@ rxConfig_t rxConfig;
extern uint8_t adjustmentStateMask;
static const adjustmentConfig_t rateAdjustmentConfig = {
.adjustmentFunction = ADJUSTMENT_RC_RATE,
.step = 1
};
TEST(RcControlsTest, processRcAdjustmentsSticksInMiddle)
{
// given
@ -205,6 +209,8 @@ TEST(RcControlsTest, processRcAdjustmentsSticksInMiddle)
rxConfig.maxcheck = DEFAULT_MAX_CHECK;
rxConfig.midrc = 1500;
configureAdjustment(0, AUX3 - NON_AUX_CHANNEL_COUNT, &rateAdjustmentConfig);
// and
uint8_t index;
for (index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
@ -241,6 +247,9 @@ TEST(RcControlsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp)
rxConfig.maxcheck = DEFAULT_MAX_CHECK;
rxConfig.midrc = 1500;
// and
configureAdjustment(0, AUX3 - NON_AUX_CHANNEL_COUNT, &rateAdjustmentConfig);
// and
uint8_t index;
for (index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {