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Fixed RC switch reading from Sideboard data

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- updated figures
- renamed RC switched to match transmitter convention
This commit is contained in:
EmanuelFeru
2020-12-31 14:39:50 +01:00
parent ce03d4c816
commit 31c321c83a
6 changed files with 27 additions and 41 deletions
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54
Src/util.c
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@@ -931,7 +931,7 @@ void handleTimeout(void) {
#endif
} else { // No Timeout
#if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART2)
if (Sideboard_L.sensors & SW1_SET) { // If SW1 is set, switch to Sideboard control
if (Sideboard_L.sensors & SWA_SET) { // If SWA is set, switch to Sideboard control
inIdx = SIDEBOARD_SERIAL_USART2;
} else {
inIdx = !SIDEBOARD_SERIAL_USART2;
@@ -954,7 +954,7 @@ void handleTimeout(void) {
#endif
} else { // No Timeout
#if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART3)
if (Sideboard_R.sensors & SW1_SET) { // If SW1 is set, switch to Sideboard control
if (Sideboard_R.sensors & SWA_SET) { // If SWA is set, switch to Sideboard control
inIdx = SIDEBOARD_SERIAL_USART3;
} else {
inIdx = !SIDEBOARD_SERIAL_USART3;
@@ -1360,32 +1360,27 @@ void sideboardSensors(uint8_t sensors) {
static uint8_t sensor1_prev, sensor2_prev;
static uint8_t sensor1_index; // holds the press index number for sensor1, when used as a button
uint8_t sensor1_trig, sensor2_trig;
sensor1_trig = (sensors & SENSOR1_SET) && !sensor1_prev; // rising edge detection
sensor2_trig = (sensors & SENSOR2_SET) && !sensor2_prev; // rising edge detection
sensor1_prev = sensors & SENSOR1_SET;
sensor2_prev = sensors & SENSOR2_SET;
#if defined(SIDEBOARD_SERIAL_USART2)
uint8_t sideboardIdx = SIDEBOARD_SERIAL_USART2;
uint16_t sideboardSns = Sideboard_L.sensors;
#else
uint8_t sideboardIdx = SIDEBOARD_SERIAL_USART3;
uint16_t sideboardSns = Sideboard_R.sensors;
#endif
// Override in case the Sideboard control is Active
#if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART2)
if (inIdx == SIDEBOARD_SERIAL_USART2) {
sensor1_index = 3 + ((Sideboard_L.sensors & SW2_SET) >> 9); // SW2 on RC transmitter is used to change Control Type
if (sensor1_index == 3) { // FOC control Type
sensor1_index = (Sideboard_L.sensors & SW3_SET) >> 11; // SW3 on RC transmitter is used to change Control Mode
if (inIdx == sideboardIdx) { // Use Sideboard data
sensor1_index = 2 + ((sideboardSns & SWB_SET) >> 9); // SWB on RC transmitter is used to change Control Type
if (sensor1_index == 2) { // FOC control Type
sensor1_index = (sideboardSns & SWC_SET) >> 11; // SWC on RC transmitter is used to change Control Mode
}
sensor1_trig = sensor1_index != sensor1_prev; // rising or falling edge change detection
sensor1_prev = sensor1_index;
} else { // Use Optical switches
sensor1_trig = (sensors & SENSOR1_SET) && !sensor1_prev; // rising edge detection
sensor2_trig = (sensors & SENSOR2_SET) && !sensor2_prev; // rising edge detection
sensor1_prev = sensors & SENSOR1_SET;
sensor2_prev = sensors & SENSOR2_SET;
}
#endif
#if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART3)
if (inIdx == SIDEBOARD_SERIAL_USART3) {
sensor1_index = 3 + ((Sideboard_R.sensors & SW2_SET) >> 9); // SW2 on RC transmitter is used to change Control Type
if (sensor1_index == 3) { // FOC control Type
sensor1_index = (Sideboard_R.sensors & SW3_SET) >> 11; // SW3 on RC transmitter is used to change Control Mode
}
sensor1_trig = sensor1_index != sensor1_prev; // rising or falling edge change detection
sensor1_prev = sensor1_index;
}
#endif
// Control MODE and Control Type Handling
if (sensor1_trig) {
@@ -1422,20 +1417,11 @@ void sideboardSensors(uint8_t sensors) {
static uint8_t sensor2_index = 1; // holds the press index number for sensor2, when used as a button
// Override in case the Sideboard control is Active
#if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART2)
if (inIdx == SIDEBOARD_SERIAL_USART2) {
sensor2_index = (Sideboard_L.sensors & SW4_SET) >> 13; // SW4 on RC transmitter is used to Activate/Deactivate Field Weakening
if (inIdx == sideboardIdx) { // Use Sideboard data
sensor2_index = (sideboardSns & SWD_SET) >> 13; // SWD on RC transmitter is used to Activate/Deactivate Field Weakening
sensor2_trig = sensor2_index != sensor2_prev; // rising or falling edge change detection
sensor2_prev = sensor2_index;
}
#endif
#if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART3)
if (inIdx == SIDEBOARD_SERIAL_USART3) {
sensor2_index = (Sideboard_R.sensors & SW4_SET) >> 13; // SW4 on RC transmitter is used to Activate/Deactivate Field Weakening
sensor2_trig = sensor2_index != sensor2_prev; // rising or falling edge change detection
sensor2_prev = sensor2_index;
}
#endif
if (sensor2_trig) {
switch (sensor2_index) {