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