Fixed RC switch update
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7aee1b37c6
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63276132a7
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@ -63,6 +63,7 @@ extern ExtY rtY_Right; /* External outputs */
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//---------------
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extern uint8_t inIdx; // input index used for dual-inputs
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extern uint8_t inIdx_prev;
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extern InputStruct input1[]; // input structure
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extern InputStruct input2[]; // input structure
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@ -505,9 +506,10 @@ int main(void) {
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}
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// HAL_GPIO_TogglePin(LED_PORT, LED_PIN); // This is to measure the main() loop duration with an oscilloscope connected to LED_PIN
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// Update main loop states
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cmdL_prev = cmdL;
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cmdR_prev = cmdR;
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// Update states
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inIdx_prev = inIdx;
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cmdL_prev = cmdL;
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cmdR_prev = cmdR;
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main_loop_counter++;
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}
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}
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27
Src/util.c
27
Src/util.c
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@ -88,8 +88,8 @@ ExtU rtU_Right; /* External inputs */
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ExtY rtY_Right; /* External outputs */
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//---------------
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uint8_t inIdx = 0;
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static uint8_t inIdxPrev = 0;
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uint8_t inIdx = 0;
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uint8_t inIdx_prev = 0;
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#if defined(PRI_INPUT1) && defined(PRI_INPUT2) && defined(AUX_INPUT1) && defined(AUX_INPUT2)
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InputStruct input1[INPUTS_NR] = { {0, 0, 0, PRI_INPUT1}, {0, 0, 0, AUX_INPUT1} };
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InputStruct input2[INPUTS_NR] = { {0, 0, 0, PRI_INPUT2}, {0, 0, 0, AUX_INPUT2} };
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@ -1004,12 +1004,10 @@ void handleTimeout(void) {
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}
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// Beep in case of Input index change
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if (inIdx && !inIdxPrev) { // rising edge
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if (inIdx && !inIdx_prev) { // rising edge
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beepShort(8);
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inIdxPrev = inIdx;
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} else if (!inIdx && inIdxPrev) { // falling edge
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} else if (!inIdx && inIdx_prev) { // falling edge
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beepShort(18);
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inIdxPrev = inIdx;
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}
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}
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@ -1368,8 +1366,8 @@ void sideboardLeds(uint8_t *leds) {
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*/
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void sideboardSensors(uint8_t sensors) {
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#if !defined(VARIANT_HOVERBOARD) && (defined(SIDEBOARD_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART3))
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static uint8_t sensor1_prev, sensor2_prev;
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static uint8_t sensor1_index; // holds the press index number for sensor1, when used as a button
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static uint8_t sensor1_prev, sensor2_prev;
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uint8_t sensor1_trig = 0, sensor2_trig = 0;
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#if defined(SIDEBOARD_SERIAL_USART2)
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uint8_t sideboardIdx = SIDEBOARD_SERIAL_USART2;
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@ -1385,6 +1383,9 @@ void sideboardSensors(uint8_t sensors) {
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sensor1_index = (sideboardSns & SWC_SET) >> 11; // SWC on RC transmitter is used to change Control Mode
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}
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sensor1_trig = sensor1_index != sensor1_prev; // rising or falling edge change detection
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if (inIdx != inIdx_prev) { // Force one update at Input idx change
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sensor1_trig = 1;
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}
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sensor1_prev = sensor1_index;
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} else { // Use Optical switches
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sensor1_trig = (sensors & SENSOR1_SET) && !sensor1_prev; // rising edge detection
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@ -1415,22 +1416,24 @@ void sideboardSensors(uint8_t sensors) {
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rtP_Left.z_ctrlTypSel = rtP_Right.z_ctrlTypSel = COM_CTRL;
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break;
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}
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beepShortMany(sensor1_index + 1, 1);
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if (inIdx == inIdx_prev) { beepShortMany(sensor1_index + 1, 1); }
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if (++sensor1_index > 4) { sensor1_index = 0; }
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}
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// Field Weakening Activation/Deactivation
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#ifdef CRUISE_CONTROL_SUPPORT
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#ifdef CRUISE_CONTROL_SUPPORT // Cruise Control Activation/Deactivation
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if (sensor2_trig) {
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cruiseControl(sensor2_trig);
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}
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#else
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#else // Field Weakening Activation/Deactivation
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static uint8_t sensor2_index = 1; // holds the press index number for sensor2, when used as a button
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// Override in case the Sideboard control is Active
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if (inIdx == sideboardIdx) { // Use Sideboard data
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sensor2_index = (sideboardSns & SWD_SET) >> 13; // SWD on RC transmitter is used to Activate/Deactivate Field Weakening
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sensor2_trig = sensor2_index != sensor2_prev; // rising or falling edge change detection
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if (inIdx != inIdx_prev) { // Force one update at Input idx change
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sensor2_trig = 1;
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}
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sensor2_prev = sensor2_index;
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}
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@ -1447,7 +1450,7 @@ void sideboardSensors(uint8_t sensors) {
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Input_Lim_Init();
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break;
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}
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beepShortMany(sensor2_index + 1, 1);
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if (inIdx == inIdx_prev) { beepShortMany(sensor2_index + 1, 1); }
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if (++sensor2_index > 1) { sensor2_index = 0; }
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}
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#endif // CRUISE_CONTROL_SUPPORT
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