void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rxConfig)
{
uint8_t adjustmentIndex;
uint32_t now = millis();
bool canUseRxData = rxIsReceivingSignal();
for (adjustmentIndex = 0; adjustmentIndex < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT; adjustmentIndex++) {
adjustmentState_t *adjustmentState = &adjustmentStates[adjustmentIndex];
if (!adjustmentState->config) {
continue;
}
uint8_t adjustmentFunction = adjustmentState->config->adjustmentFunction;
if (adjustmentFunction == ADJUSTMENT_NONE) {
continue;
}
int32_t signedDiff = now - adjustmentState->timeoutAt;
bool canResetReadyStates = signedDiff >= 0L;
if (canResetReadyStates) {
adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
}
if (!canUseRxData) {
continue;
}
uint8_t channelIndex = NON_AUX_CHANNEL_COUNT + adjustmentState->auxChannelIndex;
if (adjustmentState->config->mode == ADJUSTMENT_MODE_STEP) {
int delta;
if (rcData[channelIndex] > rxConfig->midrc + 200) {
delta = adjustmentState->config->data.stepConfig.step;
} else if (rcData[channelIndex] < rxConfig->midrc - 200) {
delta = 0 - adjustmentState->config->data.stepConfig.step;
} else {
// returning the switch to the middle immediately resets the ready state
MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
continue;
}
if (IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentIndex)) {
continue;
}
applyStepAdjustment(controlRateConfig, adjustmentFunction, delta);
} else if (adjustmentState->config->mode == ADJUSTMENT_MODE_SELECT) {
uint16_t rangeWidth = ((2100 - 900) / adjustmentState->config->data.selectConfig.switchPositions);
uint8_t position = (constrain(rcData[channelIndex], 900, 2100 - 1) - 900) / rangeWidth;
applySelectAdjustment(adjustmentFunction, position);
}
MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex);
}
}
void processRcAdjustments(controlRateConfig_t *controlRateConfig, bool canUseRxData)
{
const uint32_t now = millis();
for (int adjustmentIndex = 0; adjustmentIndex < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT; adjustmentIndex++) {
adjustmentState_t * const adjustmentState = &adjustmentStates[adjustmentIndex];
if (!adjustmentState->config) {
continue;
}
const uint8_t adjustmentFunction = adjustmentState->config->adjustmentFunction;
if (adjustmentFunction == ADJUSTMENT_NONE) {
continue;
}
const int32_t signedDiff = now - adjustmentState->timeoutAt;
const bool canResetReadyStates = signedDiff >= 0L;
if (canResetReadyStates) {
adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
}
if (!canUseRxData) {
continue;
}
const uint8_t channelIndex = NON_AUX_CHANNEL_COUNT + adjustmentState->auxChannelIndex;
if (adjustmentState->config->mode == ADJUSTMENT_MODE_STEP) {
int delta;
if (rcData[channelIndex] > PWM_RANGE_MIDDLE + 200) {
delta = adjustmentState->config->data.stepConfig.step;
} else if (rcData[channelIndex] < PWM_RANGE_MIDDLE - 200) {
delta = 0 - adjustmentState->config->data.stepConfig.step;
} else {
// returning the switch to the middle immediately resets the ready state
MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
continue;
}
if (IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentIndex)) {
continue;
}
// it is legitimate to adjust an otherwise const item here
applyStepAdjustment(controlRateConfig, adjustmentFunction, delta);
#ifdef USE_INFLIGHT_PROFILE_ADJUSTMENT
} else if (adjustmentState->config->mode == ADJUSTMENT_MODE_SELECT) {
const uint16_t rangeWidth = ((2100 - 900) / adjustmentState->config->data.selectConfig.switchPositions);
const uint8_t position = (constrain(rcData[channelIndex], 900, 2100 - 1) - 900) / rangeWidth;
applySelectAdjustment(adjustmentFunction, position);
#endif
}
MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex);
}
}
void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adjustmentConfig_t *adjustmentConfig) {
adjustmentState_t *adjustmentState = &adjustmentStates[index];
if (adjustmentState->config == adjustmentConfig) {
// already configured
return;
}
adjustmentState->auxChannelIndex = auxSwitchChannelIndex;
adjustmentState->config = adjustmentConfig;
adjustmentState->timeoutAt = 0;
MARK_ADJUSTMENT_FUNCTION_AS_READY(index);
}
void configureAdjustmentState(adjustmentRange_t *adjustmentRange) {
uint8_t index = adjustmentRange->adjustmentIndex;
adjustmentState_t *adjustmentState = &adjustmentStates[index];
if (adjustmentState->range == adjustmentRange) {
return;
}
adjustmentState->range = adjustmentRange;
adjustmentState->auxChannelIndex = adjustmentRange->auxSwitchChannelIndex;
adjustmentState->timeoutAt = 0;
adjustmentState->config.adjustmentFunction = adjustmentRange->adjustmentFunction;
if (adjustmentRange->adjustmentFunction == ADJUSTMENT_RATE_PROFILE) {
adjustmentState->config.mode = ADJUSTMENT_MODE_SELECT;
adjustmentState->config.data.selectConfig.switchPositions = 3;
} else {
adjustmentState->config.mode = ADJUSTMENT_MODE_STEP;
adjustmentState->config.data.stepConfig.step = 1;
}
MARK_ADJUSTMENT_FUNCTION_AS_READY(index);
}
void processRcAdjustments(controlRateConfig_t *controlRateConfig)
{
const uint32_t now = millis();
int newValue = -1;
const bool canUseRxData = rxIsReceivingSignal();
for (int adjustmentIndex = 0; adjustmentIndex < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT; adjustmentIndex++) {
adjustmentState_t *adjustmentState = &adjustmentStates[adjustmentIndex];
if (!adjustmentState->config) {
continue;
}
const uint8_t adjustmentFunction = adjustmentState->config->adjustmentFunction;
if (adjustmentFunction == ADJUSTMENT_NONE) {
continue;
}
if (cmp32(now, adjustmentState->timeoutAt) >= 0) {
adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
#if defined(USE_OSD) && defined(USE_OSD_ADJUSTMENTS)
adjustmentRangeValue = -1;
#endif
}
if (!canUseRxData) {
continue;
}
const uint8_t channelIndex = NON_AUX_CHANNEL_COUNT + adjustmentState->auxChannelIndex;
if (adjustmentState->config->mode == ADJUSTMENT_MODE_STEP) {
int delta;
if (rcData[channelIndex] > rxConfig()->midrc + 200) {
delta = adjustmentState->config->data.step;
} else if (rcData[channelIndex] < rxConfig()->midrc - 200) {
delta = -adjustmentState->config->data.step;
} else {
// returning the switch to the middle immediately resets the ready state
MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
continue;
}
if (IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentIndex)) {
continue;
}
newValue = applyStepAdjustment(controlRateConfig, adjustmentFunction, delta);
pidInitConfig(pidProfile);
} else if (adjustmentState->config->mode == ADJUSTMENT_MODE_SELECT) {
const uint16_t rangeWidth = ((2100 - 900) / adjustmentState->config->data.switchPositions);
const uint8_t position = (constrain(rcData[channelIndex], 900, 2100 - 1) - 900) / rangeWidth;
newValue = applySelectAdjustment(adjustmentFunction, position);
}
#if defined(USE_OSD) && defined(USE_OSD_ADJUSTMENTS)
if (newValue != -1 && adjustmentState->config->adjustmentFunction != ADJUSTMENT_RATE_PROFILE) { // Rate profile already has an OSD element
adjustmentRangeName = &adjustmentLabels[adjustmentFunction - 1][0];
adjustmentRangeValue = newValue;
}
#else
UNUSED(newValue);
#endif
MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex);
}
}