Diff: config.cpp

Revision:

6:a50e6d3924f1

Parent:

4:4060309b9cc0

Child:

8:1db19b529b22

diff -r 7b02775787a9 -r a50e6d3924f1 config.cpp
--- a/config.cpp	Fri Oct 17 03:56:56 2014 +0000
+++ b/config.cpp	Tue Feb 24 09:28:29 2015 +0000
@@ -4,6 +4,7 @@
 #include "config.h"
 #include "PulseWidthCounter.h"
 #include "SerialLcd.h"
+#include "Limiter.h"
 //#include "PID.h"
 
 //Serial pc(USBTX, USBRX); 
@@ -58,12 +59,13 @@
 extern volatile int Stick[6];
 extern volatile float Press;
 extern volatile float interval;
+extern Limiter throLimit;
 //extern bool tick_flag;
 //extern PID pid[4];
 //extern PID height;
 //extern int pid_reg[4];
 const char steering[3][6]= {"Roll ","Pitch","Yaw  "};
-const char ModelName[5][9] = { "Quad-X  ","Quad-H  ","Delta   ","Delta-TW","AirPlane" };    
+const char ModelName[6][9] = { "Quad-X  ","Quad-VP ","Quad-3D ","Delta   ","Delta-TW","AirPlane" };    
 int mode;//
 char sw,ret_mode;
 int vnum,hnum,vmax,hmax;//
@@ -96,7 +98,23 @@
                 LCD_printf(str);
                 LCD_locate(4,1);
                 LCD_printf("By AZUKITEN");
-                hmax = 0;
+                hmax = 1;
+                break;
+            case 1:         //モデルタイプの設定
+                LCD_locate(0,0);
+                LCD_printf("Model Type");
+                LCD_locate(0,1);
+                switch ( sw ) {
+                    case 'D':
+                        if ( conf.Model_Type > 0 ) conf.Model_Type -= 1;
+                        else conf.Model_Type = 4;
+                        break;
+                    case 'U':
+                        if ( conf.Model_Type < 5 ) conf.Model_Type += 1;
+                        else conf.Model_Type = 0;
+                }
+                LCD_printf( (char*)ModelName[conf.Model_Type] );
+                Set_Arrow(2);
                 break;
 
             //送信機信号のキャリブレーション
@@ -137,7 +155,7 @@
             case GYROGAIN*10:        //Set Gyro Gain
                 LCD_printf("Set Gyro Gain");
                 Set_Arrow(1);
-                hmax = 4;
+                hmax = 5;
                 break;
             case GYROGAIN*10+1:                                //Set Gyro Gain Roll
                 if ( conf.Gyro_Gain_Setting == 1 )
@@ -158,6 +176,9 @@
                     Param_Set_Prompt1("GyroGain>Yaw",&conf.Gyro_Gain[5],2,-1.00f,1.00f,0.01f,sw);
                 break;
             case GYROGAIN*10+4:
+                Param_Set_Prompt1("Active Gyro Gain",&conf.Active_Gyro_Gain,3,0.0f,1.0f,0.01f,sw);
+                break;
+            case GYROGAIN*10+5:
 //                ret_mode = 'R';
                 LCD_printf("GyroGain>setting");
                 LCD_locate(0,1);
@@ -279,7 +300,6 @@
                 LCD_printf("Disp Pulse Width");
                 Set_Arrow(1);
                 hmax = 3;
-                x = conf.ESC_Low;
                 break;
             case DISPPULSE*10+1:        //Display Pulse Width
 //           DisplayPulseWidth(THR,AIL,ELE,RUD,AUX);
@@ -405,20 +425,18 @@
             case DISPPWM*10+1:                                //Display PWM Width
                 ret_mode = 'R';
                 PWM_Out(false);
-                i = conf.ESC_Low;
                 LCD_locate(0,0);
-                sprintf(str,"M1=%4d,M2=%4d",i+M1,i+M2);
+                sprintf(str,"M1=%4d,M2=%4d",M1,M2);
                 LCD_printf(str);
                 LCD_locate(0,1);
-                sprintf(str,"M4=%4d,M3=%4d",i+M4,i+M3);
+                sprintf(str,"M4=%4d,M3=%4d",M4,M3);
                 LCD_printf(str);
                 break;
             case DISPPWM*10+2:                                //Display PWM Width
                 ret_mode = 'R';
                 PWM_Out(false);
-                i = conf.ESC_Low;
                 LCD_locate(0,0);
-                sprintf(str,"M5=%4d,M6=%4d",i+M5,i+M6);
+                sprintf(str,"M5=%4d,M6=%4d",M5,M6);
                 LCD_printf(str);
                 break;
 
@@ -426,7 +444,7 @@
             case PARMSET*10:    //パラメーター設定
                 LCD_printf("Parameter Set");
                 Set_Arrow(1);
-                hmax = 8;
+                hmax = 9;
                 break;
             case PARMSET*10+1:
                 Param_Set_Prompt1("LCD>Contrast",&conf.LCD_Contrast,2,0,63,1,sw);
@@ -453,12 +471,23 @@
                 Param_Set_Prompt1("Gyro>CutoffFreq",&conf.Cutoff_Freq,2,0.00f,10.0f,0.01f,sw);
                 break;
             case PARMSET*10+5:
-                Param_Set_Prompt1("ESC>Low Position",&conf.ESC_Low,2,Pulse_Min,Pulse_Max,1,sw);
+                Param_Set_Prompt1("ESC>Throttl Trim",&conf.Throttl_Trim,2,Pulse_Min,Pulse_Max,1,sw);
                 break;
             case PARMSET*10+6:
+                Param_Set_Prompt1("ESC>ReversePoint",&conf.Reverse_Point,2,1000,2000,1,sw);
+                break;
+            case PARMSET*10+7:
                 Param_Set_Prompt1("Flight Timer",&conf.Flight_Time,2,0,600,10,sw);
                 break;
-            case PARMSET*10+7:
+            case PARMSET*10+8:
+                Param_Set_Prompt1("Thro Limit val",&conf.Thro_Limit_Val,2,0,200,1,sw);
+                throLimit.differential(conf.Thro_Limit_Val);
+                break;
+            case PARMSET*10+9:
+                Param_Set_Prompt1("Thro Limit Rate",&conf.Thro_Limit_Rate,3,0,1,0.01,sw);
+                throLimit.rate(conf.Thro_Limit_Rate);
+                break;
+/*            case PARMSET*10+7:
                 LCD_locate(0,0);
                 LCD_printf("Model Type");
                 LCD_locate(0,1);
@@ -475,9 +504,9 @@
                 Set_Arrow(2);
                 break;
             case PARMSET*10+8:
-                Param_Set_Prompt1("Active Gyro Gain",&conf.Active_Jyro_Gain,3,0.0f,1.0f,0.01f,sw);
+                Param_Set_Prompt1("Active Gyro Gain",&conf.Active_Gyro_Gain,3,0.0f,1.0f,0.01f,sw);
                 break;
-
+*/
             //設定データの保存
             case CONFSTORE*10:       //E2PROM Store
                 LCD_printf("Config Save");
@@ -547,6 +576,10 @@
                 }
                 break;
             case 'E':
+                while ( conf.Model_Type == Quad_3D && Stick[GAIN] < 0 ) {
+                    FlashLED(2);
+                    wait(0.5);
+                }
                 LCD_cls();                 //Clear LCD
                 LCD_locate(0,0);
                 LCD_printf("PWM Started");
@@ -676,3 +709,4 @@
             LCD_printf("  <<");
     }
 };
+