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| Rev 1141 | Rev 1157 | ||
|---|---|---|---|
| 1 | /* pitch.c |
1 | /* pitch.c |
| 2 | * |
2 | * |
| 3 | * Copyright 2009 Thomas Jachmann |
3 | * Copyright 2009 Thomas Jachmann |
| 4 | * |
4 | * |
| 5 | * Pitch-Steuerung |
5 | * Pitch-Steuerung |
| 6 | */ |
6 | */ |
| 7 | 7 | ||
| 8 | #include "main.h" |
8 | #include "main.h" |
| 9 | #include "parameter.h" |
9 | #include "parameter.h" |
| 10 | #include "pitch_neutral.h" |
10 | #include "pitch_neutral.h" |
| 11 | #include "pitch_md.h" |
11 | #include "pitch_md.h" |
| - | 12 | #include "pitch_inc.h" |
|
| 12 | #include "pitch.h" |
13 | #include "pitch.h" |
| 13 | 14 | ||
| 14 | #define UNDEFINED 255 |
15 | #define UNDEFINED 255 |
| 15 | #define INVALID 255 |
16 | #define INVALID 255 |
| 16 | 17 | ||
| 17 | int pitchInitialStickValue = UNDEFINED; |
18 | int pitchInitialStickValue = UNDEFINED; |
| 18 | unsigned char pitchMode; |
19 | unsigned char pitchMode; |
| 19 | 20 | ||
| 20 | 21 | ||
| 21 | char *pitchModeStrings[] = { |
22 | char *pitchModeStrings[] = { |
| 22 | "Normal ", |
23 | "Normal ", |
| 23 | "Neutral ", |
24 | "Neutral ", |
| 24 | "MD ", |
25 | "MD ", |
| - | 26 | "Increment" |
|
| - | 27 | "Undefined", |
|
| - | 28 | "Undefined", |
|
| - | 29 | "Undefined", |
|
| 25 | "Inaktiv " |
30 | "Invalid ", |
| 26 | }; |
31 | }; |
| 27 | 32 | ||
| 28 | 33 | ||
| 29 | // Zeiger auf den durch das Setting bestimmten Pitch-Steuerungsalgorithmus |
34 | // Zeiger auf den durch das Setting bestimmten Pitch-Steuerungsalgorithmus |
| 30 | int (* pitch_value_ptr)( void ); |
35 | int (* pitchValueFP)( void ); |
| 31 | 36 | ||
| - | 37 | // Prototyp |
|
| 32 | // Prototyp |
38 | void pitch_mk_init( void ); |
| 33 | int pitch_mk_value( void ); |
39 | int pitch_mk_value( void ); |
| 34 | 40 | ||
| 35 | /* |
41 | /* |
| 36 | * Führt die Initialisierung der Pitch-Steuerung durch. Diese Funktion |
42 | * Führt die Initialisierung der Pitch-Steuerung durch. Diese Funktion |
| 37 | * wird nach jeder Setting-Auswahl sowie nach jeder Setting-Änderung |
43 | * wird nach jeder Setting-Auswahl sowie nach jeder Setting-Änderung |
| 38 | * aufgerufen. |
44 | * aufgerufen. |
| 39 | */ |
45 | */ |
| 40 | void pitch_init( void ) { |
46 | void pitch_init( void ) { |
| - | 47 | ||
| - | 48 | ||
| - | 49 | pitchMode = PARAM_PITCH_MODE; |
|
| - | 50 | pitchValueFP = pitch_mk_value; // Reasonable default |
|
| 41 | 51 | ||
| 42 | // Nur beim Einschalten ermitteln, da beim Setting-Wechsel ungültig |
52 | // Nur beim Einschalten ermitteln, da beim Setting-Wechsel ungültig |
| 43 | if( pitchInitialStickValue == UNDEFINED ) { |
53 | if( pitchInitialStickValue == UNDEFINED ) { |
| 44 | 54 | ||
| 45 | // Warten, bis ein gültiger Wert von der Fernsteuerung anliegt |
55 | // Warten, bis ein gültiger Wert von der Fernsteuerung anliegt |
| 46 | unsigned int timer = SetDelay( 500 ); |
56 | unsigned int timer = SetDelay( 500 ); |
| 47 | while( !CheckDelay( timer ) ); |
57 | while( !CheckDelay( timer ) ); |
| 48 | 58 | ||
| 49 | pitchInitialStickValue = PPM_in[ EE_Parameter.Kanalbelegung[ K_GAS ] ]; |
59 | pitchInitialStickValue = PPM_in[ EE_Parameter.Kanalbelegung[ K_GAS ] ]; |
| 50 | } |
60 | } |
| 51 | - | ||
| 52 | pitchMode = PARAM_PITCH_MODE; |
- | |
| 53 | 61 | ||
| 54 | /* Die Stick-Position beim Einschalten muß mit dem im Setting eingestellten |
62 | /* Die Stick-Position beim Einschalten muß mit dem im Setting eingestellten |
| 55 | * Pitch-Modus übereinstimmen. Sonst wird die Pitch-Steuerung aus Sicherheits- |
63 | * Pitch-Modus übereinstimmen. Sonst wird die Pitch-Steuerung aus Sicherheits- |
| 56 | * gründen deaktiviert. Selbiges gilt, wenn die Höhenregelung deaktiviert wurde. |
64 | * gründen deaktiviert. Selbiges gilt, wenn die Höhenregelung deaktiviert wurde. |
| 57 | */ |
65 | */ |
| - | 66 | ||
| 58 | switch( pitchMode ) { |
67 | switch( pitchMode ) { |
| 59 | // Pitch-Modi mit neutralisiertem Gas |
68 | // Pitch-Modi mit neutralisiertem Gas |
| 60 | case PARAM_PITCH_MODE_NEUTRAL: |
69 | case PARAM_PITCH_MODE_NEUTRAL: |
| - | 70 | printf("\r\nPARAM_PITCH_MODE_NEUTRAL\r\n"); |
|
| 61 | case PARAM_PITCH_MODE_MD: |
71 | case PARAM_PITCH_MODE_MD: |
| - | 72 | printf("\r\nPARAM_PITCH_MODE_MD\r\n"); |
|
| 62 | if( !( EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG ) ) |
73 | if( !( EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG ) || abs( pitchInitialStickValue ) > PARAM_PITCH_STICK_THRESHOLD ) |
| 63 | pitchMode = PARAM_PITCH_MODE_INVALID; |
74 | pitchMode = PARAM_PITCH_MODE_INVALID; |
| - | 75 | else { |
|
| - | 76 | if( pitchMode == PARAM_PITCH_MODE_NEUTRAL) |
|
| - | 77 | pitch_neutral_init(); |
|
| - | 78 | else if( pitchMode == PARAM_PITCH_MODE_MD) |
|
| - | 79 | pitch_md_init(); |
|
| - | 80 | } |
|
| - | 81 | break; |
|
| - | 82 | ||
| - | 83 | // Pitch-Modi mit incrementellem Gas |
|
| - | 84 | case PARAM_PITCH_MODE_INC: |
|
| - | 85 | printf("\r\nPARAM_PITCH_MODE_INC\r\n"); |
|
| 64 | if( abs( pitchInitialStickValue ) > PARAM_PITCH_STICK_THRESHOLD ) |
86 | if( abs( pitchInitialStickValue ) > PARAM_PITCH_STICK_THRESHOLD ) |
| 65 | pitchMode = PARAM_PITCH_MODE_INVALID; |
87 | pitchMode = PARAM_PITCH_MODE_INVALID; |
| - | 88 | else |
|
| - | 89 | pitch_inc_init(); |
|
| 66 | break; |
90 | break; |
| 67 | 91 | ||
| 68 | // Pitch-Modi mit 0-Gas |
92 | // Pitch-Modi mit 0-Gas |
| 69 | case PARAM_PITCH_MODE_NORMAL: |
93 | case PARAM_PITCH_MODE_NORMAL: |
| - | 94 | printf("\r\nPARAM_PITCH_MODE_NORMAL\r\n"); |
|
| 70 | if( pitchInitialStickValue > 35 - 120 ) |
95 | if( pitchInitialStickValue > 35 - 120 ) |
| 71 | pitchMode = PARAM_PITCH_MODE_INVALID; |
96 | pitchMode = PARAM_PITCH_MODE_INVALID; |
| - | 97 | else |
|
| - | 98 | pitch_mk_init(); |
|
| 72 | break; |
99 | break; |
| 73 | } |
100 | } |
| - | 101 | ||
| - | 102 | if( pitchMode == PARAM_PITCH_MODE_INVALID) |
|
| - | 103 | printf("\r\nPARAM_PITCH_MODE_INVALID, stick: %d\r\n", pitchInitialStickValue); //TODO |
|
| 74 | - | ||
| 75 | pitch_neutral_init(); |
- | |
| - | 104 | ||
| 76 | pitch_md_init(); |
105 | |
| 77 | 106 | /* |
|
| 78 | // FIXME Funktioniert noch nicht |
107 | // Moved to pitch_xxx_init() |
| 79 | switch( pitchMode ) { |
108 | switch( pitchMode ) { |
| 80 | case PARAM_PITCH_MODE_NEUTRAL: |
109 | case PARAM_PITCH_MODE_NEUTRAL: |
| 81 | pitch_value_ptr = pitch_neutral_value; |
110 | pitch_value_ptr = &pitch_neutral_value; |
| 82 | break; |
111 | break; |
| 83 | 112 | ||
| 84 | case PARAM_PITCH_MODE_MD: |
113 | case PARAM_PITCH_MODE_MD: |
| 85 | pitch_value_ptr = pitch_md_value; |
114 | pitch_value_ptr = &pitch_md_value; |
| - | 115 | break; |
|
| - | 116 | ||
| - | 117 | case PARAM_PITCH_MODE_INC: |
|
| - | 118 | pitch_value_ptr = &pitch_inc_value; |
|
| 86 | break; |
119 | break; |
| 87 | 120 | ||
| 88 | default: |
121 | default: |
| 89 | pitch_value_ptr = pitch_mk_value; |
122 | pitch_value_ptr = &pitch_mk_value; |
| 90 | } |
123 | } |
| - | 124 | */ |
|
| 91 | 125 | ||
| 92 | // Hier können weitere Initialisierungen folgen |
126 | // Hier können weitere Initialisierungen folgen |
| 93 | } |
127 | } |
| 94 | 128 | ||
| - | 129 | ||
| 95 | 130 | /* |
|
| - | 131 | int pitch_value( void ) { // -> int (* pitch_value)( void ); |
|
| 96 | int pitch_value( void ) { |
132 | |
| 97 | switch( pitchMode ) { |
133 | switch( pitchMode ) { |
| 98 | case PARAM_PITCH_MODE_NEUTRAL: |
134 | case PARAM_PITCH_MODE_NEUTRAL: |
| 99 | return pitch_neutral_value(); |
135 | return pitch_neutral_value(); |
| 100 | 136 | ||
| 101 | case PARAM_PITCH_MODE_MD: |
137 | case PARAM_PITCH_MODE_MD: |
| 102 | return pitch_md_value(); |
138 | return pitch_md_value(); |
| 103 | 139 | ||
| 104 | case PARAM_PITCH_MODE_NORMAL: |
140 | case PARAM_PITCH_MODE_NORMAL: |
| 105 | return pitch_mk_value(); |
141 | return pitch_mk_value(); |
| - | 142 | ||
| - | 143 | case PARAM_PITCH_MODE_INC: |
|
| - | 144 | return pitch_inc_value(); |
|
| - | 145 | break; |
|
| 106 | 146 | ||
| 107 | default: |
147 | default: |
| 108 | return 0; |
148 | return 0; |
| 109 | } |
149 | } |
| - | 150 | ||
| - | 151 | ||
| - | 152 | return pitch_value_ptr(); |
|
| - | 153 | ||
| 110 | } |
154 | } |
| - | 155 | */ |
|
| 111 | 156 | ||
| 112 | 157 | ||
| 113 | /* |
158 | /* |
| 114 | * Führt eine Pitch-Berechnung aus, die der Original-SW entspricht. |
159 | * Führt eine Pitch-Berechnung aus, die der Original-SW entspricht. |
| 115 | */ |
160 | */ |
| 116 | int pitch_mk_value( void ) { |
161 | int pitch_mk_value( void ) { |
| 117 | register int stickValue = PPM_in[ EE_Parameter.Kanalbelegung[ K_GAS ] ]; |
162 | register int stickValue = PPM_in[ EE_Parameter.Kanalbelegung[ K_GAS ] ]; |
| 118 | register int pitchCount = stickValue + 120; |
163 | register int pitchCount = stickValue + 120; |
| 119 | 164 | ||
| 120 | DebugOut.Analog[26] = stickValue; |
165 | DebugOut.Analog[26] = stickValue; |
| 121 | DebugOut.Analog[28] = pitchCount; |
166 | DebugOut.Analog[28] = pitchCount; |
| 122 | 167 | ||
| 123 | return pitchCount; |
168 | return pitchCount; |
| 124 | } |
169 | } |
| - | 170 | ||
| - | 171 | void pitch_mk_init( void ) { |
|
| - | 172 | ||
| - | 173 | printf("\r\npitch_mk_init()"); |
|
| - | 174 | ||
| - | 175 | pitchValueFP = pitch_mk_value; |
|
| - | 176 | } |
|
| - | 177 | ||
| - | 178 | ||
| 125 | 179 | ||